Allow autotune to be compiled in/out.

Makefile

@@ -127,7 +127,6 @@ COMMON_SRC	 = build_config.c \
 		   common/typeconversion.c \
 		   main.c \
 		   mw.c \
-		   flight/autotune.c \
 		   flight/altitudehold.c \
 		   flight/failsafe.c \
 		   flight/flight.c \
@@ -156,7 +155,8 @@ COMMON_SRC	 = build_config.c \
 		   $(CMSIS_SRC) \
 		   $(DEVICE_STDPERIPH_SRC)
 
-HIGHEND_SRC  = io/gps.c \
+HIGHEND_SRC  = flight/autotune.c \
+		   io/gps.c \
 		   io/gps_conversion.c \
 		   io/ledstrip.c \
 		   rx/sbus.c \

src/main/flight/autotune.c

@@ -20,6 +20,10 @@
 #include <string.h>
 #include <math.h>
 
+#include "platform.h"
+
+#ifdef AUTOTUNE
+
 #include "common/axis.h"
 #include "common/maths.h"
 
@@ -384,3 +388,4 @@ bool havePidsBeenUpdatedByAutotune(void)
     return targetAngle != 0;
 }
 
+#endif

src/main/flight/flight.c

@@ -76,10 +76,12 @@ void resetErrorGyro(void)
 
 const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
 
+#ifdef AUTOTUNE
 bool shouldAutotune(void)
 {
     return f.ARMED && f.AUTOTUNE_MODE;
 }
+#endif
 
 static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
         uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim)
@@ -109,9 +111,12 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
             errorAngle = (constrain(rcCommand[axis], -((int) max_angle_inclination),
                     +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
 #endif
+
+#ifdef AUTOTUNE
             if (shouldAutotune()) {
                 errorAngle = autotune(rcAliasToAngleIndexMap[axis], &inclination, errorAngle);
             }
+#endif
 
             if (f.ANGLE_MODE) {
                 // it's the ANGLE mode - control is angle based, so control loop is needed
@@ -186,9 +191,11 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
                     +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
 #endif
 
+#ifdef AUTOTUNE
             if (shouldAutotune()) {
                 errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
             }
+#endif
 
             PTermACC = errorAngle * pidProfile->P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768   16 bits is ok for result
             PTermACC = constrain(PTermACC, -pidProfile->D8[PIDLEVEL] * 5, +pidProfile->D8[PIDLEVEL] * 5);
@@ -259,9 +266,12 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
             errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
                     +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]; // 16 bits is ok here
 #endif
+
+#ifdef AUTOTUNE
             if (shouldAutotune()) {
                 errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
             }
+#endif
 
             if (!f.ANGLE_MODE) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
                 AngleRateTmp = ((int32_t)(controlRateConfig->rollPitchRate + 27) * rcCommand[axis]) >> 4;

src/main/mw.c

@@ -100,6 +100,8 @@ void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsD
     saveAndReloadCurrentProfileToCurrentProfileSlot();
 }
 
+#ifdef AUTOTUNE
+
 void updateAutotuneState(void)
 {
     static bool landedAfterAutoTuning = false;
@@ -134,6 +136,7 @@ void updateAutotuneState(void)
         landedAfterAutoTuning = true;
     }
 }
+#endif
 
 bool isCalibrating()
 {
@@ -590,7 +593,10 @@ void loop(void)
 #ifdef BARO
         haveProcessedAnnexCodeOnce = true;
 #endif
+
+#ifdef AUTOTUNE
         updateAutotuneState();
+#endif
 
 #ifdef MAG
         if (sensors(SENSOR_MAG)) {

src/main/target/CC3D/target.h

@@ -34,3 +34,4 @@
 #define TELEMETRY
 #define SOFT_SERIAL
 #define SERIAL_RX
+#define AUTOTUNE

src/main/target/CHEBUZZF3/target.h

@@ -49,3 +49,4 @@
 #define TELEMETRY
 #define SOFT_SERIAL
 #define SERIAL_RX
+#define AUTOTUNE

src/main/target/NAZE/target.h

@@ -55,3 +55,4 @@
 #define TELEMETRY
 #define SOFT_SERIAL
 #define SERIAL_RX
+#define AUTOTUNE

src/main/target/NAZE32PRO/target.h

@@ -39,3 +39,4 @@
 #define TELEMETRY
 #define SOFT_SERIAL
 #define SERIAL_RX
+#define AUTOTUNE

src/main/target/OLIMEXINO/target.h

@@ -53,3 +53,5 @@
 #define TELEMETRY
 #define SOFT_SERIAL
 #define SERIAL_RX
+#define AUTOTUNE
+

src/main/target/STM32F3DISCOVERY/target.h

@@ -51,3 +51,4 @@
 #define TELEMETRY
 #define SOFT_SERIAL
 #define SERIAL_RX
+#define AUTOTUNE