From 86b162e32f8aaf67ecaf3ad8771cd1c0851e0fd9 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 23 Feb 2018 16:40:29 +1100
Subject: [PATCH] Copter: add option to disable BRAKE flight mode

---
 ArduCopter/APM_Config.h    | 1 +
 ArduCopter/Copter.h        | 2 ++
 ArduCopter/GCS_Mavlink.cpp | 4 ++++
 ArduCopter/config.h        | 6 ++++++
 ArduCopter/mode.cpp        | 2 ++
 5 files changed, 15 insertions(+)

diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index ad546791f7..3c82fc756c 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -24,6 +24,7 @@
 //#define SPRAYER               DISABLED            // disable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
 //#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_DRIFT_ENABLED    DISABLED            // disable drift mode support
 //#define MODE_GUIDED_ENABLED   DISABLED            // disable guided mode support
 //#define MODE_LOITER_ENABLED   DISABLED            // disable loiter mode support
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index a173df9f02..6b71543192 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -962,7 +962,9 @@ private:
 #if AUTOTUNE_ENABLED == ENABLED
     ModeAutoTune mode_autotune;
 #endif
+#if MODE_BRAKE_ENABLED == ENABLED
     ModeBrake mode_brake;
+#endif
     ModeCircle mode_circle;
 #if MODE_DRIFT_ENABLED == ENABLED
     ModeDrift mode_drift;
diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 289a486137..62ae7b6be7 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1303,11 +1303,15 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
                     bool shot_mode = (!is_zero(packet.param1) && (copter.control_mode == GUIDED || copter.control_mode == GUIDED_NOGPS));
 
                     if (!shot_mode) {
+#if MODE_BRAKE_ENABLED == ENABLED
                         if (copter.set_mode(BRAKE, MODE_REASON_GCS_COMMAND)) {
                             copter.mode_brake.timeout_to_loiter_ms(2500);
                         } else {
                             copter.set_mode(ALT_HOLD, MODE_REASON_GCS_COMMAND);
                         }
+#else
+                        copter.set_mode(ALT_HOLD, MODE_REASON_GCS_COMMAND);
+#endif
                     } else {
                         // SoloLink is expected to handle pause in shots
                     }
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 0fcdc63517..0721015600 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -273,6 +273,12 @@
 # define MODE_AUTO_ENABLED ENABLED
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// Brake mode - bring vehicle to stop
+#ifndef MODE_BRAKE_ENABLED
+# define MODE_BRAKE_ENABLED ENABLED
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Drift - fly vehicle in altitude-held, coordinated-turn mode
 #ifndef MODE_DRIFT_ENABLED
diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index 84b9c3a0df..4cb5ee59a0 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -110,9 +110,11 @@ Copter::Mode *Copter::mode_from_mode_num(const uint8_t mode)
             break;
 #endif
 
+#if MODE_BRAKE_ENABLED == ENABLED
         case BRAKE:
             ret = &mode_brake;
             break;
+#endif
 
         case THROW:
             ret = &mode_throw;