Copter: add option to disable ACRO mode

ArduCopter/APM_Config.h

@@ -25,6 +25,7 @@
 //#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 GRIPPER_ENABLED       DISABLED            // disable gripper support
+//#define MODE_ACRO_ENABLED     DISABLED            // disable acrobatic mode 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

ArduCopter/AP_Arming.cpp

@@ -212,12 +212,14 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
         }
 
         // acro balance parameter check
+#if MODE_ACRO_ENABLED == ENABLED
         if ((copter.g.acro_balance_roll > copter.attitude_control->get_angle_roll_p().kP()) || (copter.g.acro_balance_pitch > copter.attitude_control->get_angle_pitch_p().kP())) {
             if (display_failure) {
                 gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: ACRO_BAL_ROLL/PITCH");
             }
             return false;
         }
+#endif
 
         #if RANGEFINDER_ENABLED == ENABLED && OPTFLOW == ENABLED
         // check range finder if optflow enabled

ArduCopter/Copter.h

@@ -960,10 +960,12 @@ private:
 #include "mode.h"
 
     Mode *flightmode;
+#if MODE_ACRO_ENABLED == ENABLED
 #if FRAME_CONFIG == HELI_FRAME
     ModeAcro_Heli mode_acro;
 #else
     ModeAcro mode_acro;
+#endif
 #endif
     ModeAltHold mode_althold;
 #if MODE_AUTO_ENABLED == ENABLED

ArduCopter/config.h

@@ -267,6 +267,12 @@
  # define NAV_GUIDED    !HAL_MINIMIZE_FEATURES
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// Acro - fly vehicle in acrobatic mode
+#ifndef MODE_ACRO_ENABLED
+# define MODE_ACRO_ENABLED ENABLED
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Auto mode - allows vehicle to trace waypoints and perform automated actions
 #ifndef MODE_AUTO_ENABLED
@@ -674,6 +680,10 @@
   #error Terrain requires ModeAuto which is disabled
 #endif
 
+#if FRAME_CONFIG == HELI_FRAME && !MODE_ACRO_ENABLED
+  #error Helicopter frame requires acro mode support which is disabled
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Developer Items
 //

ArduCopter/mode.cpp

@@ -38,9 +38,11 @@ Copter::Mode *Copter::mode_from_mode_num(const uint8_t mode)
     Copter::Mode *ret = nullptr;
 
     switch (mode) {
+#if MODE_ACRO_ENABLED == ENABLED
         case ACRO:
             ret = &mode_acro;
             break;
+#endif
 
         case STABILIZE:
             ret = &mode_stabilize;

ArduCopter/mode.h

@@ -105,6 +105,7 @@ protected:
 };
 
 
+#if MODE_ACRO_ENABLED == ENABLED
 class ModeAcro : public Mode {
 
 public:
@@ -129,6 +130,7 @@ protected:
 private:
 
 };
+#endif
 
 #if FRAME_CONFIG == HELI_FRAME
 class ModeAcro_Heli : public ModeAcro {

ArduCopter/mode_acro.cpp

@@ -2,6 +2,8 @@
 
 #include "mode.h"
 
+#if MODE_ACRO_ENABLED == ENABLED
+
 /*
  * Init and run calls for acro flight mode
  */
@@ -165,3 +167,4 @@ void Copter::ModeAcro::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pi
     pitch_out = rate_bf_request.y;
     yaw_out = rate_bf_request.z;
 }
+#endif

ArduCopter/mode_acro_heli.cpp

@@ -1,5 +1,7 @@
 #include "Copter.h"
 
+#if MODE_ACRO_ENABLED == ENABLED
+
 #if FRAME_CONFIG == HELI_FRAME
 /*
  * Init and run calls for acro flight mode for trad heli
@@ -98,3 +100,4 @@ void Copter::ModeAcro_Heli::run()
 }
 
 #endif  //HELI_FRAME
+#endif  //MODE_ACRO_ENABLED == ENABLED

ArduCopter/switches.cpp

@@ -344,6 +344,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
             break;
 
         case AUXSW_ACRO_TRAINER:
+#if MODE_ACRO_ENABLED == ENABLED
             switch(ch_flag) {
                 case AUX_SWITCH_LOW:
                     g.acro_trainer = ACRO_TRAINER_DISABLED;
@@ -358,6 +359,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
                     Log_Write_Event(DATA_ACRO_TRAINER_LIMITED);
                     break;
             }
+#endif
             break;
 
         case AUXSW_GRIPPER: