From d0dd10aeea184cc68a72ed19f56b4c7bccfe8c18 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 12 Sep 2016 16:23:53 +1000
Subject: [PATCH] Copter: added DEV_OPTIONS parameter

this is for little used options to allow standard firmware builds to
enable those options for development purposes

First option is for MAVLink based ADSB avoidance
---
 ArduCopter/GCS_Mavlink.cpp | 5 ++++-
 ArduCopter/Parameters.cpp  | 7 +++++++
 ArduCopter/Parameters.h    | 3 +++
 ArduCopter/defines.h       | 5 +++++
 4 files changed, 19 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index f60b03b78c..f1d412634e 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -960,7 +960,10 @@ void GCS_MAVLINK_Copter::handle_change_alt_request(AP_Mission::Mission_Command &
 void GCS_MAVLINK_Copter::packetReceived(const mavlink_status_t &status,
                                         mavlink_message_t &msg)
 {
-    copter.avoidance_adsb.handle_msg(msg);
+    if (copter.g2.dev_options.get() & DevOptionADSBMAVLink) {
+        // optional handling of GLOBAL_POSITION_INT as a MAVLink based avoidance source
+        copter.avoidance_adsb.handle_msg(msg);
+    }
     GCS_MAVLINK::packetReceived(status, msg);
 }
 
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index e6043608a4..d48af24311 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1000,6 +1000,13 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Path: ../libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
     AP_SUBGROUPINFO(afs, "AFS_", 6, ParametersG2, AP_AdvancedFailsafe),
 #endif
+
+    // @Param: DEV_OPTIONS
+    // @DisplayName: Development options
+    // @Description: Bitmask of developer options. The meanings of the bit fields in this parameter may vary at any time. Developers should check the source code for current meaning
+    // @Bitmask: 0:ADSBMavlinkProcessing
+    // @User: Advanced
+    AP_GROUPINFO("DEV_OPTIONS", 7, ParametersG2, dev_options, 0),
     
     AP_GROUPEND
 };
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index ddc1121a53..bf92b10938 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -562,6 +562,9 @@ public:
     // advanced failsafe library
     AP_AdvancedFailsafe_Copter afs;
 #endif
+
+    // developer options
+    AP_Int32 dev_options;
 };
 
 extern const AP_Param::Info        var_info[];
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index fbcfc66243..1a3050d8ff 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -276,6 +276,11 @@ enum LandStateType {
     LandStateType_Descending = 1
 };
 
+// bit options for DEV_OPTIONS parameter
+enum DevOptions {
+    DevOptionADSBMAVLink = 1,
+};
+
 //  Logging parameters
 #define TYPE_AIRSTART_MSG               0x00
 #define TYPE_GROUNDSTART_MSG            0x01