Copter: add option to disable CIRCLE flight mode

Saves about 2.4kB of flash

ArduCopter/APM_Config.h

@@ -25,6 +25,7 @@
 //#define WINCH_ENABLED         DISABLED            // disable winch support
 //#define MODE_AUTO_ENABLED     DISABLED            // disable auto mode support
 //#define MODE_BRAKE_ENABLED    DISABLED            // disable brake mode support
+//#define MODE_CIRCLE_ENABLED   DISABLED            // disable circle mode support
 //#define MODE_DRIFT_ENABLED    DISABLED            // disable drift mode support
 //#define MODE_GUIDED_ENABLED   DISABLED            // disable guided mode support
 //#define MODE_GUIDED_NOGPS_ENABLED   DISABLED      // disable guided/nogps mode support

ArduCopter/Copter.h

@@ -485,7 +485,9 @@ private:
     AC_AttitudeControl_t *attitude_control;
     AC_PosControl *pos_control;
     AC_WPNav *wp_nav;
+#if MODE_CIRCLE_ENABLED == ENABLED
     AC_Circle *circle_nav;
+#endif
 
     // System Timers
     // --------------
@@ -965,7 +967,9 @@ private:
 #if MODE_BRAKE_ENABLED == ENABLED
     ModeBrake mode_brake;
 #endif
+#if MODE_CIRCLE_ENABLED == ENABLED
     ModeCircle mode_circle;
+#endif
 #if MODE_DRIFT_ENABLED == ENABLED
     ModeDrift mode_drift;
 #endif

ArduCopter/Parameters.cpp

@@ -602,9 +602,11 @@ const AP_Param::Info Copter::var_info[] = {
     // @Path: ../libraries/AC_WPNav/AC_WPNav.cpp
     GOBJECTPTR(wp_nav, "WPNAV_",       AC_WPNav),
 
+#if MODE_CIRCLE_ENABLED == ENABLED
     // @Group: CIRCLE_
     // @Path: ../libraries/AC_WPNav/AC_Circle.cpp
     GOBJECTPTR(circle_nav, "CIRCLE_",  AC_Circle),
+#endif
 
     // @Group: ATC_
     // @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp

ArduCopter/config.h

@@ -279,6 +279,12 @@
 # define MODE_BRAKE_ENABLED ENABLED
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// Circle - fly vehicle around a central point
+#ifndef MODE_CIRCLE_ENABLED
+# define MODE_CIRCLE_ENABLED ENABLED
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Drift - fly vehicle in altitude-held, coordinated-turn mode
 #ifndef MODE_DRIFT_ENABLED
@@ -644,6 +650,10 @@
   #error ModeAuto requires ModeGuided which is disabled
 #endif
 
+#if MODE_AUTO_ENABLED && !MODE_CIRCLE_ENABLED
+  #error ModeAuto requires ModeCircle which is disabled
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Developer Items
 //

ArduCopter/mode.cpp

@@ -56,9 +56,11 @@ Copter::Mode *Copter::mode_from_mode_num(const uint8_t mode)
             break;
 #endif
 
+#if MODE_CIRCLE_ENABLED == ENABLED
         case CIRCLE:
             ret = &mode_circle;
             break;
+#endif
 
 #if MODE_LOITER_ENABLED == ENABLED
         case LOITER:

ArduCopter/mode_circle.cpp

@@ -1,5 +1,7 @@
 #include "Copter.h"
 
+#if MODE_CIRCLE_ENABLED == ENABLED
+
 /*
  * Init and run calls for circle flight mode
  */
@@ -103,3 +105,5 @@ int32_t Copter::ModeCircle::wp_bearing() const
 {
     return wp_nav->get_loiter_bearing_to_target();
 }
+
+#endif

ArduCopter/system.cpp

@@ -615,11 +615,13 @@ void Copter::allocate_motors(void)
     }
     AP_Param::load_object_from_eeprom(wp_nav, wp_nav->var_info);
 
+#if MODE_CIRCLE_ENABLED == ENABLED
     circle_nav = new AC_Circle(inertial_nav, *ahrs_view, *pos_control);
     if (circle_nav == nullptr) {
         AP_HAL::panic("Unable to allocate CircleNav");
     }
     AP_Param::load_object_from_eeprom(circle_nav, circle_nav->var_info);
+#endif
 
     // reload lines from the defaults file that may now be accessible
     AP_Param::reload_defaults_file();

ArduCopter/tuning.cpp

@@ -133,10 +133,12 @@ void Copter::tuning() {
         compass.set_declination(ToRad((2.0f * control_in - g.radio_tuning_high)/100.0f), false);     // 2nd parameter is false because we do not want to save to eeprom because this would have a performance impact
         break;
 
+#if MODE_CIRCLE_ENABLED == ENABLED
     case TUNING_CIRCLE_RATE:
         // set circle rate up to approximately 45 deg/sec in either direction
         circle_nav->set_rate((float)control_in/25.0f-20.0f);
         break;
+#endif
 
     case TUNING_RANGEFINDER_GAIN:
         // set rangefinder gain