Plane: make soaring an optional build feature

this disables soaring on px4-v2, saving 5k of flash

This is needed to consider pr #9042, which takes a lot of flash space

ArduPlane/ArduPlane.cpp

@@ -78,7 +78,9 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(Log_Write_Fast,         25,    300),
     SCHED_TASK(update_logging1,        25,    300),
     SCHED_TASK(update_logging2,        25,    300),
+#if SOARING_ENABLED == ENABLED
     SCHED_TASK(update_soaring,         50,    400),
+#endif
     SCHED_TASK(parachute_check,        10,    200),
 #if AP_TERRAIN_AVAILABLE
     SCHED_TASK_CLASS(AP_Terrain, &plane.terrain, update, 10, 200),
@@ -821,6 +823,13 @@ void Plane::update_alt()
             distance_beyond_land_wp = get_distance(current_loc, next_WP_loc);
         }
 
+        bool soaring_active = false;
+#if SOARING_ENABLED == ENABLED
+        if (g2.soaring_controller.is_active() && g2.soaring_controller.get_throttle_suppressed()) {
+            soaring_active = true;
+        }
+#endif
+        
         SpdHgt_Controller->update_pitch_throttle(relative_target_altitude_cm(),
                                                  target_airspeed_cm,
                                                  flight_stage,
@@ -828,7 +837,8 @@ void Plane::update_alt()
                                                  get_takeoff_pitch_min_cd(),
                                                  throttle_nudge,
                                                  tecs_hgt_afe(),
-                                                 aerodynamic_load_factor);
+                                                 aerodynamic_load_factor,
+                                                 soaring_active);
     }
 }
 

ArduPlane/GCS_Mavlink.cpp

@@ -264,9 +264,11 @@ int16_t GCS_MAVLINK_Plane::vfr_hud_throttle() const
 
 float GCS_MAVLINK_Plane::vfr_hud_climbrate() const
 {
+#if SOARING_ENABLED == ENABLED
     if (plane.g2.soaring_controller.is_active()) {
         return plane.g2.soaring_controller.get_vario_reading();
     }
+#endif
     return AP::baro().get_climb_rate();
 }
 

ArduPlane/Parameters.cpp

@@ -1140,9 +1140,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Path: ../libraries/RC_Channel/RC_Channels.cpp
     AP_SUBGROUPINFO(rc_channels, "RC", 7, ParametersG2, RC_Channels),
     
+#if SOARING_ENABLED == ENABLED
     // @Group: SOAR_
     // @Path: ../libraries/AP_Soaring/AP_Soaring.cpp
     AP_SUBGROUPINFO(soaring_controller, "SOAR_", 8, ParametersG2, SoaringController),
+#endif
   
     // @Param: RUDD_DT_GAIN
     // @DisplayName: rudder differential thrust gain
@@ -1179,8 +1181,10 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
 };
 
 ParametersG2::ParametersG2(void) :
-    ice_control(plane.rpm_sensor, plane.ahrs),
-    soaring_controller(plane.ahrs, plane.TECS_controller, plane.aparm)
+    ice_control(plane.rpm_sensor, plane.ahrs)
+#if SOARING_ENABLED == ENABLED
+    ,soaring_controller(plane.ahrs, plane.TECS_controller, plane.aparm)
+#endif
 {
     AP_Param::setup_object_defaults(this, var_info);
 }

ArduPlane/Parameters.h

@@ -525,9 +525,11 @@ public:
 
     // whether to enforce acceptance of packets only from sysid_my_gcs
     AP_Int8 sysid_enforce;
-    
+
+#if SOARING_ENABLED == ENABLED
     // ArduSoar parameters
     SoaringController soaring_controller;
+#endif
 
     // dual motor tailsitter rudder to differential thrust scaling: 0-100%
     AP_Int8 rudd_dt_gain;

ArduPlane/Plane.h

@@ -221,7 +221,7 @@ private:
     AP_AHRS_DCM ahrs;
 #endif
 
-    AP_TECS TECS_controller{ahrs, aparm, landing, g2.soaring_controller};
+    AP_TECS TECS_controller{ahrs, aparm, landing};
     AP_L1_Control L1_controller{ahrs, &TECS_controller};
 
     // Attitude to servo controllers
@@ -1029,7 +1029,9 @@ private:
 #endif
     void accel_cal_update(void);
     void update_soft_armed();
+#if SOARING_ENABLED == ENABLED
     void update_soaring();
+#endif
 
     // support for AP_Avoidance custom flight mode, AVOID_ADSB
     bool avoid_adsb_init(bool ignore_checks);

ArduPlane/config.h

@@ -378,3 +378,10 @@
  #define OSD_ENABLED DISABLED
 #endif
 
+#ifndef SOARING_ENABLED
+#if HAL_MINIMIZE_FEATURES
+ #define SOARING_ENABLED DISABLED
+#else
+ #define SOARING_ENABLED ENABLED
+#endif
+#endif

ArduPlane/servos.cpp

@@ -386,6 +386,7 @@ void Plane::set_servos_controlled(void)
             constrain_int16(quadplane.forward_throttle_pct(), min_throttle, max_throttle));
     }
 
+#if SOARING_ENABLED == ENABLED
     // suppress throttle when soaring is active
     if ((control_mode == FLY_BY_WIRE_B || control_mode == CRUISE ||
         control_mode == AUTO || control_mode == LOITER) &&
@@ -393,6 +394,7 @@ void Plane::set_servos_controlled(void)
         g2.soaring_controller.get_throttle_suppressed()) {
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
     }
+#endif
 }
 
 /*

ArduPlane/soaring.cpp

@@ -1,5 +1,7 @@
 #include "Plane.h"
 
+#if SOARING_ENABLED == ENABLED
+
 /*
 *  ArduSoar support function
 *
@@ -94,3 +96,4 @@ void Plane::update_soaring() {
     }
 }
 
+#endif // SOARING_ENABLED

ArduPlane/system.cpp

@@ -381,9 +381,11 @@ void Plane::set_mode(enum FlightMode mode, mode_reason_t reason)
         auto_navigation_mode = false;
         cruise_state.locked_heading = false;
         cruise_state.lock_timer_ms = 0;
-        
+
+#if SOARING_ENABLED == ENABLED
         // for ArduSoar soaring_controller
         g2.soaring_controller.init_cruising();
+#endif
         
         set_target_altitude_current();
         break;
@@ -392,9 +394,11 @@ void Plane::set_mode(enum FlightMode mode, mode_reason_t reason)
         throttle_allows_nudging = false;
         auto_throttle_mode = true;
         auto_navigation_mode = false;
-        
+
+#if SOARING_ENABLED == ENABLED
         // for ArduSoar soaring_controller
         g2.soaring_controller.init_cruising();
+#endif
 
         set_target_altitude_current();
         break;
@@ -419,8 +423,10 @@ void Plane::set_mode(enum FlightMode mode, mode_reason_t reason)
         next_WP_loc = prev_WP_loc = current_loc;
         // start or resume the mission, based on MIS_AUTORESET
         mission.start_or_resume();
-		
+
+#if SOARING_ENABLED == ENABLED
         g2.soaring_controller.init_cruising();
+#endif
         break;
 
     case RTL:
@@ -436,12 +442,14 @@ void Plane::set_mode(enum FlightMode mode, mode_reason_t reason)
         auto_throttle_mode = true;
         auto_navigation_mode = true;
         do_loiter_at_location();
-		
+
+#if SOARING_ENABLED == ENABLED		
         if (g2.soaring_controller.is_active() &&
             g2.soaring_controller.suppress_throttle()) {
 			g2.soaring_controller.init_thermalling();
 			g2.soaring_controller.get_target(next_WP_loc); // ahead on flight path
 		}
+#endif
 		
         break;