Added USE_ALT_HOLD build flag

src/main/fc/fc_core.c

@@ -617,7 +617,7 @@ static void subTaskMainSubprocesses(timeUs_t currentTimeUs)
     }
 #endif
 
-#if defined(USE_BARO) || defined(USE_SONAR)
+#if defined(USE_ALT_HOLD)
     // updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
     updateRcCommands();
     if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {

src/main/fc/fc_tasks.c

@@ -140,12 +140,13 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs)
     processRx(currentTimeUs);
     isRXDataNew = true;
 
-#if !defined(USE_BARO) && !defined(USE_SONAR)
+#if !defined(USE_ALT_HOLD)
     // updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
     updateRcCommands();
 #endif
     updateArmingStatus();
 
+#ifdef USE_ALT_HOLD
 #ifdef USE_BARO
     if (sensors(SENSOR_BARO)) {
         updateAltHoldState();
@@ -157,6 +158,7 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs)
         updateSonarAltHoldState();
     }
 #endif
+#endif // USE_ALT_HOLD
 }
 #endif
 
@@ -183,7 +185,7 @@ static void taskUpdateBaro(timeUs_t currentTimeUs)
 }
 #endif
 
-#if defined(USE_BARO) || defined(USE_SONAR)
+#if defined(USE_ALT_HOLD)
 static void taskCalculateAltitude(timeUs_t currentTimeUs)
 {
     if (false
@@ -196,7 +198,7 @@ static void taskCalculateAltitude(timeUs_t currentTimeUs)
         ) {
         calculateEstimatedAltitude(currentTimeUs);
     }}
-#endif
+#endif // USE_ALT_HOLD
 
 #ifdef USE_TELEMETRY
 static void taskTelemetry(timeUs_t currentTimeUs)
@@ -295,7 +297,7 @@ void fcTasksInit(void)
 #ifdef USE_SONAR
     setTaskEnabled(TASK_SONAR, sensors(SENSOR_SONAR));
 #endif
-#if defined(USE_BARO) || defined(USE_SONAR)
+#ifdef USE_ALT_HOLD
     setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || sensors(SENSOR_SONAR));
 #endif
 #ifdef USE_DASHBOARD
@@ -501,7 +503,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
     },
 #endif
 
-#if defined(USE_BARO) || defined(USE_SONAR)
+#if defined(USE_ALT_HOLD)
     [TASK_ALTITUDE] = {
         .taskName = "ALTITUDE",
         .taskFunc = taskCalculateAltitude,

src/main/flight/altitude.c

@@ -52,7 +52,7 @@ static int32_t estimatedVario = 0;                      // variometer in cm/s
 static int32_t estimatedAltitude = 0;                // in cm
 
 
-#if defined(USE_BARO) || defined(USE_SONAR)
+#if defined(USE_ALT_HOLD)
 
 enum {
     DEBUG_ALTITUDE_ACC,
@@ -294,7 +294,7 @@ void calculateEstimatedAltitude(timeUs_t currentTimeUs)
     altHoldThrottleAdjustment = calculateAltHoldThrottleAdjustment(vel_tmp, accZ_tmp, accZ_old);
     accZ_old = accZ_tmp;
 }
-#endif // defined(USE_BARO) || defined(USE_SONAR)
+#endif // USE_ALT_HOLD
 
 int32_t getEstimatedAltitude(void)
 {

src/main/interface/settings.c

@@ -616,18 +616,19 @@ const clivalue_t valueTable[] = {
     { "i_yaw",                      VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_YAW].I) },
     { "d_yaw",                      VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_YAW].D) },
 
+#ifdef USE_ALT_HOLD
     { "p_alt",                      VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_ALT].P) },
     { "i_alt",                      VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_ALT].I) },
     { "d_alt",                      VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_ALT].D) },
+    { "p_vel",                      VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_VEL].P) },
+    { "i_vel",                      VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_VEL].I) },
+    { "d_vel",                      VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_VEL].D) },
+#endif
 
     { "p_level",                    VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_LEVEL].P) },
     { "i_level",                    VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_LEVEL].I) },
     { "d_level",                    VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_LEVEL].D) },
 
-    { "p_vel",                      VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_VEL].P) },
-    { "i_vel",                      VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_VEL].I) },
-    { "d_vel",                      VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_VEL].D) },
-
     { "level_limit",                VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 10, 90 }, PG_PID_PROFILE, offsetof(pidProfile_t, levelAngleLimit) },
 
     { "horizon_tilt_effect",        VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0,  250 }, PG_PID_PROFILE, offsetof(pidProfile_t, horizon_tilt_effect) },

src/main/target/common_fc_post.h

@@ -61,6 +61,11 @@
 #endif
 #endif
 
+// undefine USE_ALT_HOLD if there is no baro or sonar to support it
+#if defined(USE_ALT_HOLD) && !defined(USE_BARO) && !defined(USE_SONAR)
+#undef USE_ALT_HOLD
+#endif
+
 /* If either VTX_CONTROL or VTX_COMMON is undefined then remove common code and device drivers */
 #if !defined(VTX_COMMON) || !defined(VTX_CONTROL)
 #undef VTX_COMMON

src/main/target/common_fc_pre.h

@@ -148,6 +148,7 @@
 #define USE_GPS_UBLOX
 #define USE_GPS_NMEA
 #define USE_NAV
+#define USE_ALT_HOLD
 #define USE_UNCOMMON_MIXERS
 #define USE_OSD_ADJUSTMENTS
 #endif