ArduPlane: add compile-time option to remove inverted-flight capability

ArduPlane/Attitude.cpp

@@ -110,6 +110,7 @@ bool Plane::stick_mixing_enabled(void)
  */
 void Plane::stabilize_roll()
 {
+#if AP_INVERTED_FLIGHT_ENABLED
     if (fly_inverted()) {
         // we want to fly upside down. We need to cope with wrap of
         // the roll_sensor interfering with wrap of nav_roll, which
@@ -119,6 +120,7 @@ void Plane::stabilize_roll()
         nav_roll_cd += 18000;
         if (ahrs.roll_sensor < 0) nav_roll_cd -= 36000;
     }
+#endif
 
     const float roll_out = stabilize_roll_get_roll_out();
     SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, roll_out);
@@ -286,9 +288,11 @@ void Plane::stabilize_stick_mixing_fbw()
     } else if (pitch_input < -0.5f) {
         pitch_input = (3*pitch_input + 1);
     }
+#if AP_INVERTED_FLIGHT_ENABLED
     if (fly_inverted()) {
         pitch_input = -pitch_input;
     }
+#endif
     if (pitch_input > 0) {
         nav_pitch_cd += pitch_input * aparm.pitch_limit_max_cd;
     } else {
@@ -599,10 +603,12 @@ void Plane::update_load_factor(void)
         // stall prevention is disabled
         return;
     }
+#if AP_INVERTED_FLIGHT_ENABLED
     if (fly_inverted()) {
         // no roll limits when inverted
         return;
     }
+#endif
 #if HAL_QUADPLANE_ENABLED
     if (quadplane.tailsitter.active()) {
         // no limits while hovering

ArduPlane/Plane.h

@@ -304,8 +304,10 @@ class Plane : public AP_Vehicle {
     // This is set to 254 when we need to re-read the switch
     uint8_t oldSwitchPosition = 254;
 
+#if AP_INVERTED_FLIGHT_ENABLED
     // This is used to enable the inverted flight feature
     bool inverted_flight;
+#endif
 
     // last time we ran roll/pitch stabilization
     uint32_t last_stabilize_ms;
@@ -479,8 +481,10 @@ class Plane : public AP_Vehicle {
         // are we headed to the land approach waypoint? Works for any nav type
         bool wp_is_land_approach;
 
+#if AP_INVERTED_FLIGHT_ENABLED
         // should we fly inverted?
         bool inverted_flight;
+#endif
 
         // should we enable cross-tracking for the next waypoint?
         bool next_wp_crosstrack;

ArduPlane/RC_Channel.cpp

@@ -214,9 +214,11 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
 bool RC_Channel_Plane::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
 {
     switch(ch_option) {
+#if AP_INVERTED_FLIGHT_ENABLED
     case AUX_FUNC::INVERTED:
         plane.inverted_flight = (ch_flag == AuxSwitchPos::HIGH);
         break;
+#endif
 
     case AUX_FUNC::REVERSE_THROTTLE:
         plane.reversed_throttle = (ch_flag == AuxSwitchPos::HIGH);

ArduPlane/commands_logic.cpp

@@ -132,12 +132,14 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
         do_set_home(cmd);
         break;
 
+#if AP_INVERTED_FLIGHT_ENABLED
     case MAV_CMD_DO_INVERTED_FLIGHT:
         if (cmd.p1 == 0 || cmd.p1 == 1) {
             auto_state.inverted_flight = (bool)cmd.p1;
             gcs().send_text(MAV_SEVERITY_INFO, "Set inverted %u", cmd.p1);
         }
         break;
+#endif
 
     case MAV_CMD_DO_LAND_START:
         break;
@@ -316,7 +318,9 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd)        // Ret
     // do commands (always return true)
     case MAV_CMD_DO_CHANGE_SPEED:
     case MAV_CMD_DO_SET_HOME:
+#if AP_INVERTED_FLIGHT_ENABLED
     case MAV_CMD_DO_INVERTED_FLIGHT:
+#endif
     case MAV_CMD_DO_LAND_START:
     case MAV_CMD_DO_FENCE_ENABLE:
     case MAV_CMD_DO_AUTOTUNE_ENABLE:

ArduPlane/control_modes.cpp

@@ -169,6 +169,7 @@ void Plane::autotune_enable(bool enable)
     }
 }
 
+#if AP_INVERTED_FLIGHT_ENABLED
 /*
   are we flying inverted?
  */
@@ -186,3 +187,4 @@ bool Plane::fly_inverted(void)
     }
     return false;
 }
+#endif

ArduPlane/mode.cpp

@@ -30,9 +30,11 @@ bool Mode::enter()
     plane.nav_scripting.enabled = false;
 #endif
 
+#if AP_INVERTED_FLIGHT_ENABLED
     // cancel inverted flight
     plane.auto_state.inverted_flight = false;
-
+#endif
+
     // cancel waiting for rudder neutral
     plane.takeoff_state.waiting_for_rudder_neutral = false;
 

ArduPlane/mode_fbwa.cpp

@@ -14,9 +14,11 @@ void ModeFBWA::update()
     }
     plane.adjust_nav_pitch_throttle();
     plane.nav_pitch_cd = constrain_int32(plane.nav_pitch_cd, plane.pitch_limit_min_cd, plane.aparm.pitch_limit_max_cd.get());
+#if AP_INVERTED_FLIGHT_ENABLED
     if (plane.fly_inverted()) {
         plane.nav_pitch_cd = -plane.nav_pitch_cd;
     }
+#endif
     if (plane.failsafe.rc_failsafe && plane.g.fs_action_short == FS_ACTION_SHORT_FBWA) {
         // FBWA failsafe glide
         plane.nav_roll_cd = 0;

ArduPlane/mode_training.cpp

@@ -28,9 +28,11 @@ void ModeTraining::update()
         plane.training_manual_pitch = true;
         plane.nav_pitch_cd = 0;
     }
+#if AP_INVERTED_FLIGHT_ENABLED
     if (plane.fly_inverted()) {
         plane.nav_pitch_cd = -plane.nav_pitch_cd;
     }
+#endif
 }
 
 /*

ArduPlane/tailsitter.cpp

@@ -545,9 +545,11 @@ bool Tailsitter::transition_vtol_complete(void) const
         return true;
     }
     int32_t roll_cd = labs(plane.ahrs.roll_sensor);
+#if AP_INVERTED_FLIGHT_ENABLED
     if (plane.fly_inverted()) {
         roll_cd = 18000 - roll_cd;
     }
+#endif
     if (roll_cd > MAX(4500, plane.roll_limit_cd + 500)) {
         gcs().send_text(MAV_SEVERITY_WARNING, "Transition VTOL done, roll error");
         return true;
@@ -811,7 +813,13 @@ void Tailsitter_Transition::update()
         quadplane.assisted_flight = true;
         uint32_t dt = now - fw_transition_start_ms;
         // multiply by 0.1 to convert (degrees/second * milliseconds) to centi degrees
-        plane.nav_pitch_cd = constrain_float(fw_transition_initial_pitch - (quadplane.tailsitter.transition_rate_fw * dt) * 0.1f * (plane.fly_inverted()?-1.0f:1.0f), -8500, 8500);
+        float inverted_multiplier = 1.0f;
+#if AP_INVERTED_FLIGHT_ENABLED
+        if (plane.fly_inverted()) {
+            inverted_multiplier = -1.0f;
+        }
+#endif
+        plane.nav_pitch_cd = constrain_float(fw_transition_initial_pitch - (quadplane.tailsitter.transition_rate_fw * dt) * 0.1f * inverted_multiplier, -8500, 8500);
         plane.nav_roll_cd = 0;
         quadplane.disable_yaw_rate_time_constant();
         quadplane.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(plane.nav_roll_cd,

ArduPlane/takeoff.cpp

@@ -106,8 +106,13 @@ bool Plane::auto_takeoff_check(void)
 
     if (do_takeoff_attitude_check) {
         // Check aircraft attitude for bad launch
+#if AP_INVERTED_FLIGHT_ENABLED
+        const bool flying_inverted = fly_inverted();
+#else
+        const bool flying_inverted = false;
+#endif
         if (ahrs.pitch_sensor <= -3000 || ahrs.pitch_sensor >= 4500 ||
-            (!fly_inverted() && labs(ahrs.roll_sensor) > 3000)) {
+            (!flying_inverted && labs(ahrs.roll_sensor) > 3000)) {
             gcs().send_text(MAV_SEVERITY_WARNING, "Bad launch AUTO");
             takeoff_state.accel_event_counter = 0;
             goto no_launch;