Copter: add option to disable THROW mode

ArduCopter/APM_Config.h

@@ -38,6 +38,7 @@
 //#define MODE_RTL_ENABLED DISABLED                 // disable rtl mode support
 //#define MODE_SMARTRTL_ENABLED DISABLED            // disable smartrtl mode support
 //#define MODE_SPORT_ENABLED DISABLED               // disable sport mode support
+//#define MODE_THROW_ENABLED    DISABLED            // disable throw mode support
 
 
 // features below are disabled by default on all boards

ArduCopter/Copter.h

@@ -1011,7 +1011,9 @@ private:
 #if ADSB_ENABLED == ENABLED
     ModeAvoidADSB mode_avoid_adsb;
 #endif
+#if MODE_THROW_ENABLED == ENABLED
     ModeThrow mode_throw;
+#endif
 #if MODE_GUIDED_NOGPS_ENABLED == ENABLED
     ModeGuidedNoGPS mode_guided_nogps;
 #endif

ArduCopter/Log.cpp

@@ -537,7 +537,8 @@ void Copter::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_tar
     DataFlash.WriteBlock(&pkt, sizeof(pkt));
 }
 
-// precision landing logging
+#if MODE_THROW_ENABLED == ENABLED
+// throw flight mode logging
 struct PACKED log_Throw {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -570,6 +571,7 @@ void Copter::Log_Write_Throw(ThrowModeStage stage, float velocity, float velocit
     };
     DataFlash.WriteBlock(&pkt, sizeof(pkt));
 }
+#endif
 
 
 // type and unit information can be found in
@@ -613,8 +615,10 @@ const struct LogStructure Copter::log_structure[] = {
       "PL",    "QBBffff",    "TimeUS,Heal,TAcq,pX,pY,vX,vY", "s--ddmm","F--00BB" },
     { LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),
       "GUID",  "QBffffff",    "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },
+#if MODE_THROW_ENABLED == ENABLED
     { LOG_THROW_MSG, sizeof(log_Throw),
       "THRO",  "QBffffbbbb",  "TimeUS,Stage,Vel,VelZ,Acc,AccEfZ,Throw,AttOk,HgtOk,PosOk", "s-nnoo----", "F-0000----" },
+#endif
 };
 
 void Copter::Log_Write_Vehicle_Startup_Messages()

ArduCopter/Parameters.cpp

@@ -801,12 +801,14 @@ const AP_Param::Info Copter::var_info[] = {
     // @Path: ../libraries/AP_Notify/AP_Notify.cpp
     GOBJECT(notify, "NTF_",  AP_Notify),
 
+#if MODE_THROW_ENABLED == ENABLED
     // @Param: THROW_MOT_START
     // @DisplayName: Start motors before throwing is detected
     // @Description: Used by THROW mode. Controls whether motors will run at the speed set by THR_MIN or will be stopped when armed and waiting for the throw.
     // @Values: 0:Stopped,1:Running
     // @User: Standard
     GSCALAR(throw_motor_start, "THROW_MOT_START", 0),
+#endif
 
     // @Param: TERRAIN_FOLLOW
     // @DisplayName: Terrain Following use control
@@ -838,6 +840,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Path: ../libraries/AP_Button/AP_Button.cpp
     AP_SUBGROUPINFO(button, "BTN_", 2, ParametersG2, AP_Button),
 
+#if MODE_THROW_ENABLED == ENABLED
     // @Param: THROW_NEXTMODE
     // @DisplayName: Throw mode's follow up mode
     // @Description: Vehicle will switch to this mode after the throw is successfully completed.  Default is to stay in throw mode (18)
@@ -851,6 +854,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Values: 0:Upward Throw,1:Drop
     // @User: Standard
     AP_GROUPINFO("THROW_TYPE", 4, ParametersG2, throw_type, ThrowType_Upward),
+#endif
 
     // @Param: GND_EFFECT_COMP
     // @DisplayName: Ground Effect Compensation Enable/Disable

ArduCopter/Parameters.h

@@ -457,7 +457,9 @@ public:
     AP_Float        fs_ekf_thresh;
     AP_Int16        gcs_pid_mask;
 
+#if MODE_THROW_ENABLED == ENABLED
     AP_Int8         throw_motor_start;
+#endif
     AP_Int8         terrain_follow;
 
     AP_Int16                rc_speed; // speed of fast RC Channels in Hz
@@ -507,9 +509,11 @@ public:
     AP_Gripper gripper;
 #endif
 
+#if MODE_THROW_ENABLED == ENABLED
     // Throw mode parameters
     AP_Int8 throw_nextmode;
     AP_Int8 throw_type;
+#endif
 
     // ground effect compensation enable/disable
     AP_Int8 gndeffect_comp_enabled;

ArduCopter/avoidance_adsb.cpp

@@ -25,7 +25,9 @@ MAV_COLLISION_ACTION AP_Avoidance_Copter::handle_avoidance(const AP_Avoidance::O
 
     // take no action in some flight modes
     if (copter.control_mode == LAND ||
+#if MODE_THROW_ENABLED == ENABLED
         copter.control_mode == THROW ||
+#endif
         copter.control_mode == FLIP) {
         actual_action = MAV_COLLISION_ACTION_NONE;
     }

ArduCopter/config.h

@@ -345,6 +345,12 @@
 # define MODE_SPORT_ENABLED ENABLED
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// Throw - fly vehicle after throwing it in the air
+#ifndef MODE_THROW_ENABLED
+# define MODE_THROW_ENABLED ENABLED
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Beacon support - support for local positioning systems
 #ifndef BEACON_ENABLED

ArduCopter/mode.cpp

@@ -120,9 +120,11 @@ Copter::Mode *Copter::mode_from_mode_num(const uint8_t mode)
             break;
 #endif
 
+#if MODE_THROW_ENABLED == ENABLED
         case THROW:
             ret = &mode_throw;
             break;
+#endif
 
 #if ADSB_ENABLED == ENABLED
         case AVOID_ADSB:

ArduCopter/mode_throw.cpp

@@ -1,5 +1,6 @@
 #include "Copter.h"
 
+#if MODE_THROW_ENABLED == ENABLED
 
 // throw_init - initialise throw controller
 bool Copter::ModeThrow::init(bool ignore_checks)
@@ -267,3 +268,4 @@ bool Copter::ModeThrow::throw_position_good()
     // check that our horizontal position error is within 50cm
     return (pos_control->get_horizontal_error() < 50.0f);
 }
+#endif

ArduCopter/switches.cpp

@@ -546,6 +546,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
             break;
 
         case AUXSW_THROW:
+#if MODE_THROW_ENABLED == ENABLED
             // throw flight mode
             if (ch_flag == AUX_SWITCH_HIGH) {
                 set_mode(THROW, MODE_REASON_TX_COMMAND);
@@ -555,6 +556,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
                     reset_control_switch();
                 }
             }
+#endif
             break;
 
         case AUXSW_AVOID_ADSB:

ArduCopter/system.cpp

@@ -425,7 +425,7 @@ void Copter::update_auto_armed()
         }
 #else
         // if motors are armed and throttle is above zero auto_armed should be true
-        // if motors are armed and we are in throw mode, then auto_ermed should be true
+        // if motors are armed and we are in throw mode, then auto_armed should be true
         if(motors->armed() && (!ap.throttle_zero || control_mode == THROW)) {
             set_auto_armed(true);
         }

ArduCopter/toy_mode.cpp

@@ -489,10 +489,12 @@ void ToyMode::update()
         send_named_int("VIDEOTOG", 1);
         break;
 
+#if MODE_THROW_ENABLED == ENABLED
     case ACTION_MODE_ACRO:
         new_mode = ACRO;
         break;
-        
+#endif
+
     case ACTION_MODE_ALTHOLD:
         new_mode = ALT_HOLD;
         break;
@@ -537,9 +539,11 @@ void ToyMode::update()
         new_mode = BRAKE;
         break;
 
+#if MODE_THROW_ENABLED == ENABLED
     case ACTION_MODE_THROW:
         new_mode = THROW;
         break;
+#endif
 
     case ACTION_MODE_FLIP:
         new_mode = FLIP;