From 2be4c0e3f5d3f83c3a92fdfd689cde75cab7da89 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 28 Oct 2023 17:06:45 +1100
Subject: [PATCH] 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
---
 ArduCopter/mode.h        | 2 +-
 ArduCopter/mode_auto.cpp | 8 ++++----
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index 7e36797d64cc9..3de08e4766a69 100644
--- 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
index 1f769d93ab846..b79b008c2e6b6 100644
--- 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)
 {