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

ArduPilot · Apr 3, 2024 · 93f8a23 · 93f8a23
1 parent 3d4466c
commit 93f8a23
Show file tree

Hide file tree

Showing 3 changed files with 10 additions and 2 deletions.
diff --git a/ArduCopter/RC_Channel.cpp b/ArduCopter/RC_Channel.cpp
@@ -112,7 +112,9 @@ void RC_Channel_Copter::init_aux_function(const AUX_FUNC ch_option, const AuxSwi
     case AUX_FUNC::ACRO_TRAINER:
     case AUX_FUNC::ATTCON_ACCEL_LIM:
     case AUX_FUNC::ATTCON_FEEDFWD:
+#if AP_INVERTED_FLIGHT_ENABLED
     case AUX_FUNC::INVERTED:
+#endif
     case AUX_FUNC::MOTOR_INTERLOCK:
     case AUX_FUNC::PARACHUTE_3POS:      // we trust the vehicle will be disarmed so even if switch is in release position the chute will not release
     case AUX_FUNC::PARACHUTE_ENABLE:
@@ -417,6 +419,7 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
 #endif
             break;
 
+#if AP_INVERTED_FLIGHT_ENABLED
         case AUX_FUNC::INVERTED:
 #if FRAME_CONFIG == HELI_FRAME
             switch (ch_flag) {
@@ -434,8 +437,9 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
                 copter.attitude_control->set_inverted_flight(false);
                 break;
             }
-#endif
+#endif  // FRAME_CONFIG == HELI_FRAME
             break;
+#endif  // AP_INVERTED_FLIGHT_ENABLED
 
         case AUX_FUNC::WINCH_ENABLE:
 #if AP_WINCH_ENABLED

diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
@@ -458,10 +458,12 @@ void Copter::exit_mode(Mode *&old_flightmode,
         }
     }
 
+#if AP_INVERTED_FLIGHT_ENABLED
     // Make sure inverted flight is disabled if not supported in the new mode
     if (!new_flightmode->allows_inverted()) {
         attitude_control->set_inverted_flight(false);
     }
+#endif
 #endif //HELI_FRAME
 }
 

diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
@@ -128,7 +128,7 @@ class Mode {
     virtual bool allows_autotune() const { return false; }
     virtual bool allows_flip() const { return false; }
 
-#if FRAME_CONFIG == HELI_FRAME
+#if FRAME_CONFIG == HELI_FRAME && AP_INVERTED_FLIGHT_ENABLED
     virtual bool allows_inverted() const { return false; };
 #endif
 
@@ -1581,7 +1581,9 @@ class ModeStabilize_Heli : public ModeStabilize {
     bool init(bool ignore_checks) override;
     void run() override;
 
+#if AP_INVERTED_FLIGHT_ENABLED
     bool allows_inverted() const override { return true; };
+#endif
 
 protected: