Copter: disable RTL option

ArduCopter/Parameters.cpp

@@ -158,6 +158,13 @@ const AP_Param::Info Copter::var_info[] = {
     // @Increment: 1000
     // @User: Standard
     GSCALAR(rtl_loiter_time,      "RTL_LOIT_TIME",    RTL_LOITER_TIME),
+
+    // @Param: RTL_ALT_TYPE
+    // @DisplayName: RTL mode altitude type
+    // @Description: RTL altitude type.  Set to 1 for Terrain following during RTL and then set WPNAV_RFND_USE=1 to use rangefinder or WPNAV_RFND_USE=0 to use Terrain database
+    // @Values: 0:Relative to Home, 1:Terrain
+    // @User: Standard
+    GSCALAR(rtl_alt_type, "RTL_ALT_TYPE", 0),
 #endif
 
 #if RANGEFINDER_ENABLED == ENABLED
@@ -735,13 +742,6 @@ const AP_Param::Info Copter::var_info[] = {
     GSCALAR(throw_motor_start, "THROW_MOT_START", (float)ModeThrow::PreThrowMotorState::STOPPED),
 #endif
 
-    // @Param: RTL_ALT_TYPE
-    // @DisplayName: RTL mode altitude type
-    // @Description: RTL altitude type.  Set to 1 for Terrain following during RTL and then set WPNAV_RFND_USE=1 to use rangefinder or WPNAV_RFND_USE=0 to use Terrain database
-    // @Values: 0:Relative to Home, 1:Terrain
-    // @User: Standard
-    GSCALAR(rtl_alt_type, "RTL_ALT_TYPE", 0),
-
 #if OSD_ENABLED || OSD_PARAM_ENABLED
     // @Group: OSD
     // @Path: ../libraries/AP_OSD/AP_OSD.cpp

ArduCopter/Parameters.h

@@ -392,9 +392,16 @@ public:
     AP_Int16        throttle_behavior;
     AP_Float        pilot_takeoff_alt;
 
+#if MODE_RTL_ENABLED == ENABLED
     AP_Int16        rtl_altitude;
     AP_Int16        rtl_speed_cms;
     AP_Float        rtl_cone_slope;
+    AP_Int16        rtl_alt_final;
+    AP_Int16        rtl_climb_min;              // rtl minimum climb in cm
+    AP_Int32        rtl_loiter_time;
+    AP_Int8         rtl_alt_type;
+#endif
+
 #if RANGEFINDER_ENABLED == ENABLED
     AP_Float        rangefinder_gain;
 #endif
@@ -403,8 +410,6 @@ public:
     AP_Int16        gps_hdop_good;              // GPS Hdop value at or below this value represent a good position
 
     AP_Int8         super_simple;
-    AP_Int16        rtl_alt_final;
-    AP_Int16        rtl_climb_min;              // rtl minimum climb in cm
 
     AP_Int8         wp_yaw_behavior;            // controls how the autopilot controls yaw during missions
 
@@ -415,7 +420,6 @@ public:
 
     // Waypoints
     //
-    AP_Int32        rtl_loiter_time;
     AP_Int16        land_speed;
     AP_Int16        land_speed_high;
     AP_Int16        pilot_speed_up;    // maximum vertical ascending velocity the pilot may request
@@ -457,8 +461,6 @@ public:
     AP_Enum<ModeThrow::PreThrowMotorState>         throw_motor_start;
 #endif
 
-    AP_Int8         rtl_alt_type;
-
     AP_Int16                rc_speed; // speed of fast RC Channels in Hz
 
     // Acro parameters