Copter: make AutoTune a compile-time option

ArduCopter/ArduCopter.pde

@@ -1685,10 +1685,12 @@ bool set_roll_pitch_mode(uint8_t new_roll_pitch_mode)
             }
             break;
 
+#if AUTOTUNE == ENABLED
         case ROLL_PITCH_AUTOTUNE:
             // indicate we can enter this mode successfully
             roll_pitch_initialised = true;
             break;
+#endif
     }
 
     // if initialisation has been successful update the yaw mode
@@ -1808,6 +1810,7 @@ void update_roll_pitch_mode(void)
         get_pitch_rate_stabilized_ef(g.rc_2.control_in);
         break;
 
+#if AUTOTUNE == ENABLED
     case ROLL_PITCH_AUTOTUNE:
         // apply SIMPLE mode transform
         if(ap.simple_mode && ap_system.new_radio_frame) {
@@ -1824,6 +1827,7 @@ void update_roll_pitch_mode(void)
         // copy user input for reporting purposes
         get_autotune_roll_pitch_controller(g.rc_1.control_in, g.rc_2.control_in);
         break;
+#endif
     }
 
 	#if FRAME_CONFIG != HELI_FRAME

ArduCopter/Log.pde

@@ -160,6 +160,7 @@ process_logs(uint8_t argc, const Menu::arg *argv)
     return 0;
 }
 
+#if AUTOTUNE == ENABLED
 struct PACKED log_AutoTune {
     LOG_PACKET_HEADER;
     uint8_t axis;           // roll or pitch
@@ -203,6 +204,7 @@ static void Log_Write_AutoTuneDetails(int16_t angle_cd, float rate_cds)
     };
     DataFlash.WriteBlock(&pkt, sizeof(pkt));
 }
+#endif
 
 struct PACKED log_Current {
     LOG_PACKET_HEADER;
@@ -758,10 +760,12 @@ static void Log_Write_Error(uint8_t sub_system, uint8_t error_code)
 
 static const struct LogStructure log_structure[] PROGMEM = {
     LOG_COMMON_STRUCTURES,
+#if AUTOTUNE == ENABLED
     { LOG_AUTOTUNE_MSG, sizeof(log_AutoTune),
       "ATUN", "BBfffff",       "Axis,TuneStep,RateMin,RateMax,RPGain,RDGain,SPGain" },
     { LOG_AUTOTUNEDETAILS_MSG, sizeof(log_AutoTuneDetails),
       "ATDE", "cf",          "Angle,Rate" },
+#endif
     { LOG_CURRENT_MSG, sizeof(log_Current),             
       "CURR", "hIhhhf",      "Thr,ThrInt,Volt,Curr,Vcc,CurrTot" },
 
@@ -855,8 +859,10 @@ static void Log_Write_Cmd(uint8_t num, const struct Location *wp) {}
 static void Log_Write_Mode(uint8_t mode) {}
 static void Log_Write_IMU() {}
 static void Log_Write_GPS() {}
+#if AUTOTUNE == ENABLED
 static void Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float rate_min, float rate_max, float new_gain_rp, float new_gain_rd, float new_gain_sp) {}
 static void Log_Write_AutoTuneDetails(int16_t angle_cd, float rate_cds) {}
+#endif
 static void Log_Write_Current() {}
 static void Log_Write_Compass() {}
 static void Log_Write_Attitude() {}

ArduCopter/auto_tune.pde

@@ -1,5 +1,6 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
+#if AUTOTUNE == ENABLED
 /*
     Auto tuning works in this way:
         i) set up 3-position ch7 or ch8 switch to "AutoTune"
@@ -563,4 +564,5 @@ get_autotune_roll_pitch_controller(int32_t pilot_roll_angle, int32_t pilot_pitch
                 break;
         }
     }
-}
+}
+#endif  // AUTOTUNE == ENABLED

ArduCopter/config.h

@@ -447,6 +447,12 @@
  #define OPTFLOW_IMAX 100
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+//  Auto Tuning
+#ifndef AUTOTUNE
+ # define AUTOTUNE  DISABLED
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 //  Crop Sprayer
 #ifndef SPRAYER

ArduCopter/control_modes.pde

@@ -283,6 +283,7 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
             }
             break;
 
+#if AUTOTUNE == ENABLED
         case AUX_SWITCH_AUTOTUNE:
             // turn on auto tuner
             switch(ch_flag) {
@@ -300,6 +301,7 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
                     break;
             }
             break;
+#endif
     }
 }
 

ArduCopter/motors.pde

@@ -398,8 +398,10 @@ static void init_disarm_motors()
 
     g.throttle_cruise.save();
 
+#if AUTOTUNE == ENABLED
     // save auto tuned parameters
     auto_tune_save_tuning_gains();
+#endif
 
     // we are not in the air
     set_takeoff_complete(false);