Add define for functions only

src/main/fc/fc_core.c

@@ -177,7 +177,7 @@ int16_t getAxisRcCommand(int16_t rawData, int16_t rate, int16_t deadband)
 {
     int16_t stickDeflection = 0;
 
-#if defined(SITL_BUILD) // Workaround due to strange bug in GCC > 10.2 https://gcc.gnu.org/bugzilla/show_bug.cgi?id=108914   
+#if defined(SITL_BUILD) // Workaround due to strange bug in GCC > 10.2 https://gcc.gnu.org/bugzilla/show_bug.cgi?id=108914
     const int16_t value = rawData - PWM_RANGE_MIDDLE;
     if (value < -500) {
         stickDeflection = -500;
@@ -187,9 +187,9 @@ int16_t getAxisRcCommand(int16_t rawData, int16_t rate, int16_t deadband)
         stickDeflection = value;
     }
 #else
-    stickDeflection = constrain(rawData - PWM_RANGE_MIDDLE, -500, 500);   
+    stickDeflection = constrain(rawData - PWM_RANGE_MIDDLE, -500, 500);
 #endif
-    
+
     stickDeflection = applyDeadbandRescaled(stickDeflection, deadband, -500, 500);
     return rcLookup(stickDeflection, rate);
 }
@@ -523,9 +523,12 @@ void tryArm(void)
     }
 
 #ifdef USE_DSHOT
-    if (STATE(MULTIROTOR) && (IS_RC_MODE_ACTIVE(BOXTURTLE) || MULTI_FUNC_FLAG(MF_TURTLE_MODE)) && !FLIGHT_MODE(TURTLE_MODE) &&
+#ifdef USE_MULTI_FUNCTIONS
-        emergencyArmingCanOverrideArmingDisabled() && isMotorProtocolDshot()
+    const bool turtleIsActive = IS_RC_MODE_ACTIVE(BOXTURTLE) || MULTI_FUNC_FLAG(MF_TURTLE_MODE);
-        ) {
+#else
+    const bool turtleIsActive = IS_RC_MODE_ACTIVE(BOXTURTLE);
+#endif
+    if (STATE(MULTIROTOR) && turtleIsActive && !FLIGHT_MODE(TURTLE_MODE) && emergencyArmingCanOverrideArmingDisabled() && isMotorProtocolDshot()) {
         sendDShotCommand(DSHOT_CMD_SPIN_DIRECTION_REVERSED);
         ENABLE_ARMING_FLAG(ARMED);
         enableFlightMode(TURTLE_MODE);
@@ -842,7 +845,7 @@ static float calculateThrottleTiltCompensationFactor(uint8_t throttleTiltCompens
 
 void taskMainPidLoop(timeUs_t currentTimeUs)
 {
-  
+
     cycleTime = getTaskDeltaTime(TASK_SELF);
     dT = (float)cycleTime * 0.000001f;
 

src/main/fc/fc_msp_box.c

@@ -180,7 +180,9 @@ void initActiveBoxIds(void)
     RESET_BOX_ID_COUNT;
     ADD_ACTIVE_BOX(BOXARM);
     ADD_ACTIVE_BOX(BOXPREARM);
+#ifdef USE_MULTI_FUNCTIONS
     ADD_ACTIVE_BOX(BOXMULTIFUNCTION);
+#endif
 
     if (sensors(SENSOR_ACC) && STATE(ALTITUDE_CONTROL)) {
         ADD_ACTIVE_BOX(BOXANGLE);
@@ -414,8 +416,9 @@ void packBoxModeFlags(boxBitmask_t * mspBoxModeFlags)
 #ifdef USE_MULTI_MISSION
     CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCHANGEMISSION)),   BOXCHANGEMISSION);
 #endif
+#ifdef USE_MULTI_FUNCTIONS
     CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXMULTIFUNCTION)),   BOXMULTIFUNCTION);
-
+#endif
     memset(mspBoxModeFlags, 0, sizeof(boxBitmask_t));
     for (uint32_t i = 0; i < activeBoxIdCount; i++) {
         if (activeBoxes[activeBoxIds[i]]) {

src/main/fc/multifunction.c

@@ -26,6 +26,8 @@
 #include "build/debug.h"
 #include "drivers/time.h"
 
+#ifdef USE_MULTI_FUNCTIONS
+
 #include "fc/fc_core.h"
 #include "fc/multifunction.h"
 #include "fc/rc_modes.h"
@@ -127,3 +129,4 @@ multi_function_e multiFunctionSelection(void)
 
     return selectedItem;
 }
+#endif

src/main/fc/multifunction.h

@@ -24,6 +24,8 @@
 
 #pragma once
 
+#ifdef USE_MULTI_FUNCTIONS
+
 extern uint8_t multiFunctionFlags;
 
 #define MULTI_FUNC_FLAG_DISABLE(mask) (multiFunctionFlags &= ~(mask))
@@ -50,3 +52,4 @@ typedef enum {
 multi_function_e multiFunctionSelection(void);
 bool isNextMultifunctionItemAvailable(void);
 void setMultifunctionSelection(multi_function_e item);
+#endif

src/main/io/osd.c

@@ -5053,6 +5053,7 @@ static textAttributes_t osdGetMultiFunctionMessage(char *buff)
     static uint8_t warningsCount;
     const char *message = NULL;
 
+#ifdef USE_MULTI_FUNCTIONS
     /* --- FUNCTIONS --- */
     multi_function_e selectedFunction = multiFunctionSelection();
 
@@ -5086,7 +5087,7 @@ static textAttributes_t osdGetMultiFunctionMessage(char *buff)
         case MULTI_FUNC_5:
 #ifdef USE_DSHOT
             if (STATE(MULTIROTOR)) {
-                message = MULTI_FUNC_FLAG(MF_TURTLE_MODE) ? "USE TURTLE" : "END TURTLE";
+                message = MULTI_FUNC_FLAG(MF_TURTLE_MODE) ? "END TURTLE" : "USE TURTLE";
                 break;
             }
 #endif
@@ -5112,6 +5113,7 @@ static textAttributes_t osdGetMultiFunctionMessage(char *buff)
 
         return elemAttr;
     }
+#endif  // MULTIFUNCTION - functions only, warnings always defined
 
     /* --- WARNINGS --- */
     const char *messages[7];

src/main/navigation/navigation.c

@@ -1305,8 +1305,13 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_TRACKBACK(navigatio
 
     if (posControl.flags.estPosStatus >= EST_USABLE) {
         const int32_t distFromStartTrackback = calculateDistanceToDestination(&posControl.rthTBPointsList[posControl.rthTBLastSavedIndex]) / 100;
+#ifdef USE_MULTI_FUNCTIONS
+        const bool overrideTrackback = rthAltControlStickOverrideCheck(ROLL) || MULTI_FUNC_FLAG(MF_SUSPEND_TRACKBACK);
+#else
+        const bool overrideTrackback = rthAltControlStickOverrideCheck(ROLL);
+#endif
         const bool cancelTrackback = distFromStartTrackback > navConfig()->general.rth_trackback_distance ||
-                                     ((rthAltControlStickOverrideCheck(ROLL) || MULTI_FUNC_FLAG(MF_SUSPEND_TRACKBACK)) && !posControl.flags.forcedRTHActivated);
+                                     (overrideTrackback && !posControl.flags.forcedRTHActivated);
 
         if (posControl.activeRthTBPointIndex < 0 || cancelTrackback) {
             posControl.rthTBWrapAroundCounter = posControl.activeRthTBPointIndex = -1;
@@ -2437,10 +2442,11 @@ static navigationHomeFlags_t navigationActualStateHomeValidity(void)
 #if defined(USE_SAFE_HOME)
 void checkSafeHomeState(bool shouldBeEnabled)
 {
-    const bool safehomeNotApplicable = navConfig()->general.flags.safehome_usage_mode == SAFEHOME_USAGE_OFF ||
+    bool safehomeNotApplicable = navConfig()->general.flags.safehome_usage_mode == SAFEHOME_USAGE_OFF || posControl.flags.rthTrackbackActive ||
-                                       (MULTI_FUNC_FLAG(MF_SUSPEND_SAFEHOMES) && !posControl.flags.forcedRTHActivated) ||
+                                 (!posControl.safehomeState.isApplied && posControl.homeDistance < navConfig()->general.min_rth_distance);
-                                       posControl.flags.rthTrackbackActive ||
+#ifdef USE_MULTI_FUNCTIONS
-                                       (!posControl.safehomeState.isApplied && posControl.homeDistance < navConfig()->general.min_rth_distance);
+    safehomeNotApplicable = safehomeNotApplicable || (MULTI_FUNC_FLAG(MF_SUSPEND_SAFEHOMES) && !posControl.flags.forcedRTHActivated);
+#endif
 
 	if (safehomeNotApplicable) {
 		shouldBeEnabled = false;

src/main/target/common.h

@@ -161,6 +161,7 @@
 #define NAV_MAX_WAYPOINTS       120
 #define USE_RCDEVICE
 #define USE_MULTI_MISSION
+#define USE_MULTI_FUNCTIONS  // defines functions only, warnings always defined
 
 //Enable VTX control
 #define USE_VTX_CONTROL