Copter: correct defines around using payload place functionality

we need support for the actual payload place flight behaviour as well as the navigation item support
jfbblue0922 · Oct 31, 2023 · 2be4c0e · 2be4c0e
1 parent 4b4c6e8
commit 2be4c0e
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
@@ -501,7 +501,7 @@ class ModeAuto : public Mode {
         NAVGUIDED,
         LOITER,
         LOITER_TO_ALT,
-#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED
+#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED && AC_PAYLOAD_PLACE_ENABLED
         NAV_PAYLOAD_PLACE,
 #endif
         NAV_SCRIPT_TIME,

diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
@@ -149,7 +149,7 @@ void ModeAuto::run()
         loiter_to_alt_run();
         break;
 
-#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED
+#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED && AC_PAYLOAD_PLACE_ENABLED
     case SubMode::NAV_PAYLOAD_PLACE:
         payload_place.run();
         break;
@@ -661,7 +661,7 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
         do_nav_delay(cmd);
         break;
 
-#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED
+#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED && AC_PAYLOAD_PLACE_ENABLED
     case MAV_CMD_NAV_PAYLOAD_PLACE:              // 94 place at Waypoint
         do_payload_place(cmd);
         break;
@@ -871,7 +871,7 @@ bool ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
         cmd_complete = verify_land();
         break;
 
-#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED
+#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED && AC_PAYLOAD_PLACE_ENABLED
     case MAV_CMD_NAV_PAYLOAD_PLACE:
         cmd_complete = payload_place.verify();
         break;
@@ -1923,7 +1923,7 @@ void ModeAuto::do_winch(const AP_Mission::Mission_Command& cmd)
 }
 #endif
 
-#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED
+#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED && AC_PAYLOAD_PLACE_ENABLED
 // do_payload_place - initiate placing procedure
 void ModeAuto::do_payload_place(const AP_Mission::Mission_Command& cmd)
 {