Copter: remove ability to disable PosHold flight mode

This flight mode is stable and regularly used so it is unlikely that we ever want to disable it

ArduCopter/APM_Config.h

@@ -11,7 +11,6 @@
 //#define CAMERA                DISABLED            // disable camera trigger to save 1k of flash
 //#define RANGEFINDER_ENABLED   DISABLED            // disable rangefinder to save 1k of flash
 //#define PROXIMITY_ENABLED     DISABLED            // disable proximity sensors
-//#define POSHOLD_ENABLED       DISABLED            // disable PosHold flight mode to save 4.5k of flash
 //#define AC_RALLY              DISABLED            // disable rally points library (must also disable terrain which relies on rally)
 //#define AC_TERRAIN            DISABLED            // disable terrain library
 //#define PARACHUTE             DISABLED            // disable parachute release to save 1k of flash

ArduCopter/Copter.h

@@ -973,9 +973,7 @@ private:
 
     Copter::FlightMode_Loiter flightmode_loiter{*this};
 
-#if POSHOLD_ENABLED == ENABLED
     Copter::FlightMode_PosHold flightmode_poshold{*this};
-#endif
 
     Copter::FlightMode_RTL flightmode_rtl{*this};
 

ArduCopter/FlightMode.h

@@ -767,7 +767,6 @@ private:
 };
 
 
-#if POSHOLD_ENABLED == ENABLED
 class FlightMode_PosHold : public FlightMode {
 
 public:
@@ -800,7 +799,6 @@ private:
     void poshold_pitch_controller_to_pilot_override();
 
 };
-#endif
 
 
 class FlightMode_RTL : public FlightMode {

ArduCopter/Parameters.cpp

@@ -457,7 +457,6 @@ const AP_Param::Info Copter::var_info[] = {
     // @Values: 0:Very Soft, 25:Soft, 50:Medium, 75:Crisp, 100:Very Crisp
     GSCALAR(rc_feel_rp, "RC_FEEL_RP",  RC_FEEL_RP_MEDIUM),
 
-#if POSHOLD_ENABLED == ENABLED
     // @Param: PHLD_BRAKE_RATE
     // @DisplayName: PosHold braking rate
     // @Description: PosHold flight mode's rotation rate during braking in deg/sec
@@ -473,7 +472,6 @@ const AP_Param::Info Copter::var_info[] = {
     // @Range: 2000 4500
     // @User: Advanced
     GSCALAR(poshold_brake_angle_max, "PHLD_BRAKE_ANGLE",  POSHOLD_BRAKE_ANGLE_DEFAULT),
-#endif
 
     // @Param: LAND_REPOSITION
     // @DisplayName: Land repositioning

ArduCopter/config.h

@@ -499,9 +499,6 @@
 //////////////////////////////////////////////////////////////////////////////
 // PosHold parameter defaults
 //
-#ifndef POSHOLD_ENABLED
- # define POSHOLD_ENABLED               ENABLED // PosHold flight mode enabled by default
-#endif
 #ifndef POSHOLD_BRAKE_RATE_DEFAULT
  # define POSHOLD_BRAKE_RATE_DEFAULT    8       // default POSHOLD_BRAKE_RATE param value.  Rotation rate during braking in deg/sec
 #endif

ArduCopter/control_poshold.cpp

@@ -1,7 +1,5 @@
 #include "Copter.h"
 
-#if POSHOLD_ENABLED == ENABLED
-
 /*
  * Init and run calls for PosHold flight mode
  *     PosHold tries to improve upon regular loiter by mixing the pilot input with the loiter controller
@@ -672,5 +670,3 @@ void Copter::FlightMode_PosHold::poshold_pitch_controller_to_pilot_override()
     // store final loiter outputs for mixing with pilot input
     poshold.controller_final_pitch = poshold.pitch;
 }
-
-#endif  // POSHOLD_ENABLED == ENABLED

ArduCopter/flight_mode.cpp

@@ -65,11 +65,9 @@ Copter::FlightMode *Copter::flightmode_for_mode(const uint8_t mode)
             break;
 #endif
 
-#if POSHOLD_ENABLED == ENABLED
         case POSHOLD:
             ret = &flightmode_poshold;
             break;
-#endif
 
         case BRAKE:
             ret = &flightmode_brake;