From 8171532dc5bfdb85ad30f6b686275f662a01da7e Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 12 May 2016 15:44:39 +0900
Subject: [PATCH] Copter: allow rangefinder to be disabled from definition

---
 ArduCopter/Attitude.cpp | 4 ++++
 ArduCopter/Copter.h     | 2 --
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/Attitude.cpp b/ArduCopter/Attitude.cpp
index d9e6115dd2..0280a1c754 100644
--- a/ArduCopter/Attitude.cpp
+++ b/ArduCopter/Attitude.cpp
@@ -246,6 +246,7 @@ float Copter::get_throttle_pre_takeoff(float input_thr)
 //      returns climb rate (in cm/s) which should be passed to the position controller
 float Copter::get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt)
 {
+#if RANGEFINDER_ENABLED == ENABLED
     static uint32_t last_call_ms = 0;
     float distance_error;
     float velocity_correction;
@@ -275,6 +276,9 @@ float Copter::get_surface_tracking_climb_rate(int16_t target_rate, float current
 
     // return combined pilot climb rate + rate to correct rangefinder alt error
     return (target_rate + velocity_correction);
+#else
+    return (float)target_rate;
+#endif
 }
 
 // set_accel_throttle_I_from_pilot_throttle - smoothes transition from pilot controlled throttle to autopilot throttle
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 3d0f958a80..736faecd86 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -169,7 +169,6 @@ private:
     Compass compass;
     AP_InertialSensor ins;
 
-#if RANGEFINDER_ENABLED == ENABLED
     RangeFinder rangefinder {serial_manager};
     struct {
         bool enabled:1;
@@ -178,7 +177,6 @@ private:
         uint32_t last_healthy_ms;
         LowPassFilterFloat alt_cm_filt; // altitude filter
     } rangefinder_state = { false, false, 0, 0 };
-#endif
 
     AP_RPM rpm_sensor;