Add preprocessor definitions

src/main/fc/cli.c

@@ -1309,6 +1309,7 @@ static void cliTempSensor(char *cmdline)
 }
 #endif
 
+#ifdef USE_FW_AUTOLAND
 static void printFwAutolandApproach(uint8_t dumpMask, const navFwAutolandApproach_t *navFwAutolandApproach, const navFwAutolandApproach_t *defaultFwAutolandApproach) 
 {
     const char *format = "fwapproach %u %d %d %u %d %d %u";
@@ -1410,6 +1411,7 @@ static void cliFwAutolandApproach(char * cmdline)
         }
     }
 }
+#endif
 
 #if defined(USE_SAFE_HOME)
 static void printSafeHomes(uint8_t dumpMask, const navSafeHome_t *navSafeHome, const navSafeHome_t *defaultSafeHome)
@@ -3901,8 +3903,10 @@ static void printConfig(const char *cmdline, bool doDiff)
         printSafeHomes(dumpMask, safeHomeConfig_CopyArray, safeHomeConfig(0));
 #endif
 
+#ifdef USE_FW_AUTOLAND
         cliPrintHashLine("Fixed Wing Approach");
         printFwAutolandApproach(dumpMask, fwAutolandApproachConfig_CopyArray, fwAutolandApproachConfig(0));
+#endif
 
         cliPrintHashLine("features");
         printFeature(dumpMask, &featureConfig_Copy, featureConfig());
@@ -4148,7 +4152,9 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("flash_write", NULL, "<address> <message>", cliFlashWrite),
 #endif
 #endif
+#ifdef USE_FW_AUTOLAND
     CLI_COMMAND_DEF("fwapproach", "Fixed Wing Approach Settings", NULL, cliFwAutolandApproach),
+#endif
     CLI_COMMAND_DEF("get", "get variable value", "[name]", cliGet),
 #ifdef USE_GPS
     CLI_COMMAND_DEF("gpspassthrough", "passthrough gps to serial", NULL, cliGpsPassthrough),

src/main/fc/fc_msp.c

@@ -1660,6 +1660,7 @@ static mspResult_e mspFcSafeHomeOutCommand(sbuf_t *dst, sbuf_t *src)
 }
 #endif
 
+#ifdef USE_FW_AUTOLAND
 static mspResult_e mspFwApproachOutCommand(sbuf_t *dst, sbuf_t *src)
 {
     const uint8_t idx = sbufReadU8(src);
@@ -1676,6 +1677,7 @@ static mspResult_e mspFwApproachOutCommand(sbuf_t *dst, sbuf_t *src)
          return MSP_RESULT_ERROR;
     }
 }
+#endif
 
 static mspResult_e mspFcLogicConditionCommand(sbuf_t *dst, sbuf_t *src) {
     const uint8_t idx = sbufReadU8(src);
@@ -2668,7 +2670,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 
     case MSP_SET_WP:
         if (dataSize == 21) {
-            static uint8_t mmIdx = 0;
+            
             const uint8_t msp_wp_no = sbufReadU8(src);     // get the waypoint number
             navWaypoint_t msp_wp;
             msp_wp.action = sbufReadU8(src);    // action
@@ -2681,7 +2683,8 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             msp_wp.flag = sbufReadU8(src);      // future: to set nav flag
             setWaypoint(msp_wp_no, &msp_wp);
 
-            uint8_t fwAppraochStartIdx = 8;
+#ifdef USE_FW_AUTOLAND
+            static uint8_t mmIdx = 0, fwAppraochStartIdx = 8;
 #ifdef USE_SAFE_HOME
             fwAppraochStartIdx = MAX_SAFE_HOMES;
 #endif
@@ -2691,8 +2694,11 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
                 mmIdx++;
             }
             resetFwAutolandApproach(fwAppraochStartIdx + mmIdx);
-        } else
+#endif
+        } else {
             return MSP_RESULT_ERROR;
+        }
+
         break;
     case MSP2_COMMON_SET_RADAR_POS:
         if (dataSize == 19) {
@@ -3149,13 +3155,16 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             safeHomeConfigMutable(i)->enabled = sbufReadU8(src);
             safeHomeConfigMutable(i)->lat = sbufReadU32(src);
             safeHomeConfigMutable(i)->lon = sbufReadU32(src);
+#ifdef USE_FW_AUTOLAND
             resetFwAutolandApproach(i);
+#endif
         } else {
             return MSP_RESULT_ERROR;
         }
         break;
 #endif
 
+#ifdef USE_FW_AUTOLAND
     case MSP2_INAV_SET_FW_APPROACH:
         if (dataSize == 15) {
             uint8_t i;
@@ -3178,6 +3187,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             return MSP_RESULT_ERROR;
         }
         break;
+#endif
 
 #ifdef USE_EZ_TUNE
 
@@ -3691,10 +3701,11 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
         *ret = mspFcSafeHomeOutCommand(dst, src);
         break;
 #endif
+#ifdef USE_FW_AUTOLAND
     case MSP2_INAV_FW_APPROACH:
         *ret = mspFwApproachOutCommand(dst, src);
         break;
-
+#endif
 #ifdef USE_SIMULATOR
     case MSP_SIMULATOR:
 		tmp_u8 = sbufReadU8(src); // Get the Simulator MSP version

src/main/fc/settings.yaml

@@ -4093,7 +4093,7 @@ groups:
   - name: PG_FW_AUTOLAND_CONFIG
     type: navFwAutolandConfig_t
     headers: ["navigation/navigation.h"]
-    condition: USE_SAFE_HOME
+    condition: USE_FW_AUTOLAND
     members: 
       - name: nav_fw_land_approach_length
         description: "Length of the final approach"

src/main/flight/pid.c

@@ -593,7 +593,11 @@ static float computePidLevelTarget(flight_dynamics_index_t axis) {
 #endif
 
     // Automatically pitch down if the throttle is manually controlled and reduced bellow cruise throttle
+#ifdef USE_FW_AUTOLAND
     if ((axis == FD_PITCH) && STATE(AIRPLANE) && FLIGHT_MODE(ANGLE_MODE) && !navigationIsControllingThrottle() && !isFwLandInProgess()) {
+#else
+    if ((axis == FD_PITCH) && STATE(AIRPLANE) && FLIGHT_MODE(ANGLE_MODE) && !navigationIsControllingThrottle()) {
+#endif
         angleTarget += scaleRange(MAX(0, currentBatteryProfile->nav.fw.cruise_throttle - rcCommand[THROTTLE]), 0, currentBatteryProfile->nav.fw.cruise_throttle - PWM_RANGE_MIN, 0, navConfig()->fw.minThrottleDownPitchAngle);
     }
 

src/main/io/osd.c

@@ -1004,15 +1004,21 @@ static const char * osdFailsafeInfoMessage(void)
     }
     return OSD_MESSAGE_STR(OSD_MSG_RC_RX_LINK_LOST);
 }
+
 #if defined(USE_SAFE_HOME)
 static const char * divertingToSafehomeMessage(void)
 {
+#ifdef USE_FW_AUTOLAND
 	if (!posControl.fwLandState.landWp && (NAV_Status.state != MW_NAV_STATE_HOVER_ABOVE_HOME && posControl.safehomeState.isApplied)) {
+#else
+    if (NAV_Status.state != MW_NAV_STATE_HOVER_ABOVE_HOME && posControl.safehomeState.isApplied) {
+#endif
 	    return OSD_MESSAGE_STR(OSD_MSG_DIVERT_SAFEHOME);
 	}
-	return NULL;
-}
 #endif
+	return NULL;   
+}
+
 
 static const char * navigationStateMessage(void)
 {
@@ -2269,9 +2275,12 @@ static bool osdDrawSingleElement(uint8_t item)
     case OSD_FLYMODE:
         {
             char *p = "ACRO";
+#ifdef USE_FW_AUTOLAND
             if (isFwLandInProgess()) 
                 p = "LAND";
-            else if (FLIGHT_MODE(FAILSAFE_MODE))
+            else
+#endif
+            if (FLIGHT_MODE(FAILSAFE_MODE))
                 p = "!FS!";
             else if (FLIGHT_MODE(MANUAL_MODE))
                 p = "MANU";
@@ -5134,8 +5143,13 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
         const char *invertedInfoMessage = NULL;
 
         if (ARMING_FLAG(ARMED)) {
+#ifdef USE_FW_AUTOLAND
             if (FLIGHT_MODE(FAILSAFE_MODE) || FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding() || isFwLandInProgess()) {
                 if (isWaypointMissionRTHActive() && !posControl.fwLandState.landWp) {
+#else
+            if (FLIGHT_MODE(FAILSAFE_MODE) || FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding()) {
+                if (isWaypointMissionRTHActive()) {
+#endif
                     // if RTH activated whilst WP mode selected, remind pilot to cancel WP mode to exit RTH
                     messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_WP_RTH_CANCEL);
                 }
@@ -5165,16 +5179,23 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
                     tfp_sprintf(messageBuf, "LANDING DELAY: %3u SECONDS", remainingHoldSec);
 
                     messages[messageCount++] = messageBuf;
-                } else {
+                } 
+
+                else {
+#ifdef USE_FW_AUTOLAND
                     if (canFwLandCanceld()) {
                          messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_MOVE_STICKS);
                     } else if (!isFwLandInProgess()) {
+#endif
                         const char *navStateMessage = navigationStateMessage();
                         if (navStateMessage) {
                             messages[messageCount++] = navStateMessage;
                         }
+#ifdef USE_FW_AUTOLAND
                     }
+#endif
                 }
+
 #if defined(USE_SAFE_HOME)
                 const char *safehomeMessage = divertingToSafehomeMessage();
                 if (safehomeMessage) {

src/main/navigation/navigation.c

@@ -90,11 +90,11 @@ int16_t       GPS_directionToHome;       // direction to home point in degrees
 
 radar_pois_t radar_pois[RADAR_MAX_POIS];
 
-#if defined(USE_SAFE_HOME)
+#ifdef USE_FW_AUTOLAND
-PG_REGISTER_ARRAY(navSafeHome_t, MAX_SAFE_HOMES, safeHomeConfig, PG_SAFE_HOME_CONFIG , 0);
-
 PG_REGISTER_WITH_RESET_TEMPLATE(navFwAutolandConfig_t, navFwAutolandConfig, PG_FW_AUTOLAND_CONFIG, 0);
 
+PG_REGISTER_ARRAY(navFwAutolandApproach_t, MAX_FW_LAND_APPOACH_SETTINGS, fwAutolandApproachConfig, PG_FW_AUTOLAND_APPROACH_CONFIG, 0);
+
 PG_RESET_TEMPLATE(navFwAutolandConfig_t, navFwAutolandConfig,
     .approachLength = SETTING_NAV_FW_LAND_APPROACH_LENGTH_DEFAULT,
     .finalApproachPitchToThrottleMod = SETTING_NAV_FW_LAND_FINAL_APPROACH_PITCH2THROTTLE_MOD_DEFAULT,
@@ -104,9 +104,10 @@ PG_RESET_TEMPLATE(navFwAutolandConfig_t, navFwAutolandConfig,
     .maxTailwind = SETTING_NAV_FW_LAND_MAX_TAILWIND_DEFAULT,
     .glidePitch = SETTING_NAV_FW_LAND_GLIDE_PITCH_DEFAULT,
 );
+#endif
 
-PG_REGISTER_ARRAY(navFwAutolandApproach_t, MAX_FW_LAND_APPOACH_SETTINGS, fwAutolandApproachConfig, PG_FW_AUTOLAND_APPROACH_CONFIG, 0);
+#if defined(USE_SAFE_HOME)
-
+PG_REGISTER_ARRAY(navSafeHome_t, MAX_SAFE_HOMES, safeHomeConfig, PG_SAFE_HOME_CONFIG , 0);
 #endif
 
 // waypoint 254, 255 are special waypoints
@@ -270,7 +271,11 @@ static void resetAltitudeController(bool useTerrainFollowing);
 static void resetPositionController(void);
 static void setupAltitudeController(void);
 static void resetHeadingController(void);
+
+#ifdef USE_FW_AUTOLAND
 static void resetFwAutoland(void);
+#endif
+
 void resetGCSFlags(void);
 
 static void setupJumpCounters(void);
@@ -299,10 +304,12 @@ static bool rthAltControlStickOverrideCheck(unsigned axis);
 static void updateRthTrackback(bool forceSaveTrackPoint);
 static fpVector3_t * rthGetTrackbackPos(void);
 
+#ifdef USE_FW_AUTOLAND
 static float getLandAltitude(void);
 static int32_t calcWindDiff(int32_t heading, int32_t windHeading);
 static int32_t calcFinalApproachHeading(int32_t approachHeading, int32_t windAngle);
 static void setLandWaypoint(const fpVector3_t *pos, const fpVector3_t *nextWpPos);
+#endif
 
 /*************************************************************************************************/
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_IDLE(navigationFSMState_t previousState);
@@ -342,12 +349,14 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_IN_PROGRESS(navi
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_MIXERAT_INITIALIZE(navigationFSMState_t previousState);
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_MIXERAT_IN_PROGRESS(navigationFSMState_t previousState);
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_MIXERAT_ABORT(navigationFSMState_t previousState);
+#ifdef USE_FW_AUTOLAND
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_CLIMB_TO_LOITER(navigationFSMState_t previousState);
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_LOITER(navigationFSMState_t previousState);
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_APPROACH(navigationFSMState_t previousState);
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_GLIDE(navigationFSMState_t previousState);
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_FLARE(navigationFSMState_t previousState);
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_ABORT(navigationFSMState_t previousState);
+#endif
 
 static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
     /** Idle state ******************************************************/
@@ -1036,6 +1045,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         }
     },
 
+#ifdef USE_FW_AUTOLAND
     [NAV_STATE_FW_LANDING_CLIMB_TO_LOITER] = {
         .persistentId = NAV_PERSISTENT_ID_FW_LANDING_CLIMB_TO_LOITER,
         .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_CLIMB_TO_LOITER,
@@ -1150,6 +1160,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
             [NAV_FSM_EVENT_SWITCH_TO_WAYPOINT]  = NAV_STATE_WAYPOINT_INITIALIZE,
         }
     }, 
+#endif
 };
 
 static navigationFSMStateFlags_t navGetStateFlags(navigationFSMState_t state)
@@ -1181,7 +1192,9 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_IDLE(navigationFSMState
     resetAltitudeController(false);
     resetHeadingController();
     resetPositionController();
+#ifdef USE_FW_AUTOLAND
     resetFwAutoland();
+#endif
 
     return NAV_FSM_EVENT_NONE;
 }
@@ -1391,7 +1404,9 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
     }
 
     if (previousState != NAV_STATE_FW_LANDING_ABORT) {
+#ifdef USE_FW_AUTOLAND  
         posControl.fwLandState.landAborted = false;
+#endif
         if (STATE(FIXED_WING_LEGACY) && (posControl.homeDistance < navConfig()->general.min_rth_distance) && !posControl.flags.forcedRTHActivated) {
             // Prevent RTH from activating on airplanes if too close to home unless it's a failsafe RTH
             return NAV_FSM_EVENT_SWITCH_TO_IDLE;
@@ -1681,6 +1696,9 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_HOME(na
 
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationFSMState_t previousState)
 {
+#ifndef USE_FW_AUTOLAND
+    UNUSED(previousState);
+#endif
 
     //On ROVER and BOAT we immediately switch to the next event
     if (!STATE(ALTITUDE_CONTROL)) {
@@ -1701,6 +1719,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF
         return NAV_FSM_EVENT_SWITCH_TO_MIXERAT;
     }
 
+#ifdef USE_FW_AUTOLAND
     if (STATE(AIRPLANE)) {
         int8_t missionIdx = -1, shIdx = -1, missionFwLandConfigStartIdx = 8; 
 #ifdef USE_MULTI_MISSION
@@ -1728,6 +1747,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF
             return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING;
         } 
     }
+#endif
 
     float descentVelLimited = 0;
 
@@ -2054,7 +2074,10 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_INITI
 {
     UNUSED(previousState);
 
+#ifdef USE_FW_AUTOLAND
     posControl.fwLandState.landState = FW_AUTOLAND_STATE_IDLE;
+#endif
+
     if ((posControl.flags.estPosStatus >= EST_USABLE)) {
         resetPositionController();
         setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, 0, NAV_POS_UPDATE_XY);
@@ -2202,6 +2225,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_MIXERAT_ABORT(navigatio
     return NAV_FSM_EVENT_SUCCESS;
 }
 
+#ifdef USE_FW_AUTOLAND
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_CLIMB_TO_LOITER(navigationFSMState_t previousState)
 {
     UNUSED(previousState);
@@ -2416,6 +2440,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_ABORT(naviga
 
     return posControl.fwLandState.landWp ? NAV_FSM_EVENT_SWITCH_TO_WAYPOINT : NAV_FSM_EVENT_SWITCH_TO_RTH;
 }
+#endif
 
 static navigationFSMState_t navSetNewFSMState(navigationFSMState_t newState)
 {
@@ -4146,9 +4171,11 @@ void applyWaypointNavigationAndAltitudeHold(void)
     posControl.flags.horizontalPositionDataConsumed = false;
     posControl.flags.verticalPositionDataConsumed = false;
 
+#ifdef USE_FW_AUTOLAND
     if (!isFwLandInProgess()) {
         posControl.fwLandState.landState = FW_AUTOLAND_STATE_IDLE;
     }
+#endif
 
     /* Process controllers */
     navigationFSMStateFlags_t navStateFlags = navGetStateFlags(posControl.navState);
@@ -5029,6 +5056,8 @@ uint8_t getActiveWpNumber(void)
     return NAV_Status.activeWpNumber;
 }
 
+#ifdef USE_FW_AUTOLAND
+
 static void resetFwAutoland(void)
 {
     posControl.fwLandState.landAltAgl = 0; 
@@ -5122,3 +5151,5 @@ bool canFwLandCanceld(void)
     || posControl.navState == NAV_STATE_FW_LANDING_APPROACH
     || posControl.navState == NAV_STATE_FW_LANDING_GLIDE;
 }
+
+#endif

src/main/navigation/navigation.h

@@ -41,18 +41,38 @@ extern bool autoThrottleManuallyIncreased;
 
 /* Navigation system updates */
 void onNewGPSData(void);
+
 #if defined(USE_SAFE_HOME)
 
 #define MAX_SAFE_HOMES 8
-#define MAX_FW_LAND_APPOACH_SETTINGS (MAX_SAFE_HOMES + 9)
 
 typedef struct {
     uint8_t enabled;
     int32_t lat;
     int32_t lon;
-    int8_t fwLandSettingsIdx;
 } navSafeHome_t;
 
+typedef enum {
+    SAFEHOME_USAGE_OFF = 0,    // Don't use safehomes
+    SAFEHOME_USAGE_RTH = 1,    // Default - use safehome for RTH
+    SAFEHOME_USAGE_RTH_FS = 2, // Use safehomes for RX failsafe only
+} safehomeUsageMode_e;
+
+PG_DECLARE_ARRAY(navSafeHome_t, MAX_SAFE_HOMES, safeHomeConfig);
+
+void resetSafeHomes(void);                       // remove all safehomes
+bool findNearestSafeHome(void);                  // Find nearest safehome
+
+#endif // defined(USE_SAFE_HOME)
+
+#ifdef USE_FW_AUTOLAND
+
+#ifndef MAX_SAFE_HOMES
+#define MAX_SAFE_HOMES 0
+#endif
+
+#define MAX_FW_LAND_APPOACH_SETTINGS (MAX_SAFE_HOMES + 9)
+
 typedef enum  {
     FW_AUTOLAND_APPROACH_DIRECTION_LEFT,
     FW_AUTOLAND_APPROACH_DIRECTION_RIGHT
@@ -79,14 +99,6 @@ typedef struct {
 
 PG_DECLARE_ARRAY(navFwAutolandApproach_t, MAX_FW_LAND_APPOACH_SETTINGS, fwAutolandApproachConfig);
 
-typedef enum {
-    SAFEHOME_USAGE_OFF = 0,    // Don't use safehomes
-    SAFEHOME_USAGE_RTH = 1,    // Default - use safehome for RTH
-    SAFEHOME_USAGE_RTH_FS = 2, // Use safehomes for RX failsafe only
-} safehomeUsageMode_e;
-
-PG_DECLARE_ARRAY(navSafeHome_t, MAX_SAFE_HOMES, safeHomeConfig);
-
 typedef struct navFwAutolandConfig_s
 {
     uint32_t approachLength;
@@ -101,11 +113,8 @@ typedef struct navFwAutolandConfig_s
 PG_DECLARE(navFwAutolandConfig_t, navFwAutolandConfig);
 
 void resetFwAutolandApproach(int8_t idx);
-void resetSafeHomes(void);                       // remove all safehomes
-bool findNearestSafeHome(void);                  // Find nearest safehome
 
-
+#endif
-#endif // defined(USE_SAFE_HOME)
 
 #ifndef NAV_MAX_WAYPOINTS
 #define NAV_MAX_WAYPOINTS 15
@@ -683,8 +692,10 @@ uint8_t getActiveWpNumber(void);
  */
 int32_t navigationGetHomeHeading(void);
 
+#ifdef USE_FW_AUTOLAND
 bool isFwLandInProgess(void);
 bool canFwLandCanceld(void);
+#endif
 
 /* Compatibility data */
 extern navSystemStatus_t    NAV_Status;

src/main/navigation/navigation_fixedwing.c

@@ -589,9 +589,12 @@ int16_t fixedWingPitchToThrottleCorrection(int16_t pitch, timeUs_t currentTimeUs
     int16_t filteredPitch = (int16_t)pt1FilterApply4(&pitchToThrFilterState, pitch, getPitchToThrottleSmoothnessCutoffFreq(NAV_FW_BASE_PITCH_CUTOFF_FREQUENCY_HZ), US2S(deltaMicrosPitchToThrCorr));
 
     int16_t pitchToThrottle = currentBatteryProfile->nav.fw.pitch_to_throttle;
+
+#ifdef USE_FW_AUTOLAND
     if (pitch < 0 && posControl.fwLandState.landState == FW_AUTOLAND_STATE_FINAL_APPROACH) {
         pitchToThrottle *= navFwAutolandConfig()->finalApproachPitchToThrottleMod / 100.0f;
     }
+#endif
 
     if (ABS(pitch - filteredPitch) > navConfig()->fw.pitch_to_throttle_thresh) {
         // Unfiltered throttle correction outside of pitch deadband
@@ -640,7 +643,11 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
         uint16_t correctedThrottleValue = constrain(currentBatteryProfile->nav.fw.cruise_throttle + throttleCorrection, currentBatteryProfile->nav.fw.min_throttle, currentBatteryProfile->nav.fw.max_throttle);
 
         // Manual throttle increase
+#ifdef USE_FW_AUTOLAND
         if (navConfig()->fw.allow_manual_thr_increase && !FLIGHT_MODE(FAILSAFE_MODE) && !isFwLandInProgess()) {
+#else
+        if (navConfig()->fw.allow_manual_thr_increase && !FLIGHT_MODE(FAILSAFE_MODE)) {
+#endif
             if (rcCommand[THROTTLE] < PWM_RANGE_MIN + (PWM_RANGE_MAX - PWM_RANGE_MIN) * 0.95){
                 correctedThrottleValue += MAX(0, rcCommand[THROTTLE] - currentBatteryProfile->nav.fw.cruise_throttle);
             } else {
@@ -654,6 +661,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
         rcCommand[THROTTLE] = setDesiredThrottle(correctedThrottleValue, false);
     }
 
+#ifdef USE_FW_AUTOLAND
     // Advanced autoland
     if (posControl.navState == NAV_STATE_FW_LANDING_GLIDE || posControl.navState == NAV_STATE_FW_LANDING_FLARE || STATE(LANDING_DETECTED)) {
         // Set motor to min. throttle and stop it when MOTOR_STOP feature is enabled
@@ -668,7 +676,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
             rcCommand[PITCH] = pidAngleToRcCommand(-DEGREES_TO_DECIDEGREES(navFwAutolandConfig()->flarePitch), pidProfile()->max_angle_inclination[FD_PITCH]);
         }
     }
-
+#endif
     // "Traditional" landing as fallback option
     if (navStateFlags & NAV_CTL_LAND) {
         int32_t finalAltitude = navConfig()->general.land_slowdown_minalt + posControl.rthState.homeTmpWaypoint.z;

src/main/navigation/navigation_private.h

@@ -368,6 +368,7 @@ typedef struct {
     bool                    rthLinearDescentActive; // Activation status of Linear Descent
 } rthState_t;
 
+#ifdef USE_FW_AUTOLAND
 typedef enum {
     FW_AUTOLAND_WP_TURN,
     FW_AUTOLAND_WP_FINAL_APPROACH,
@@ -389,6 +390,7 @@ typedef struct {
     bool landWp;
     fwAutolandState_t landState;
 } fwLandState_t;
+#endif
 
 typedef enum {
     RTH_HOME_ENROUTE_INITIAL,       // Initial position for RTH approach
@@ -471,8 +473,10 @@ typedef struct {
     int8_t                      activeRthTBPointIndex;
     int8_t                      rthTBWrapAroundCounter;     // stores trackpoint array overwrite index position
 
+#ifdef USE_FW_AUTOLAND
     /* Fixedwing autoland */
     fwLandState_t fwLandState;
+#endif
 
     /* Internals & statistics */
     int16_t                     rcAdjustment[4];

src/main/programming/logic_condition.c

@@ -744,7 +744,12 @@ static int logicConditionGetFlightOperandValue(int operand) {
             break;
 
         case LOGIC_CONDITION_OPERAND_FLIGHT_IS_LANDING: // 0/1
+#ifdef USE_FW_AUTOLAND
             return ((navGetCurrentStateFlags() & NAV_CTL_LAND) || isFwLandInProgess()) ? 1 : 0;
+#else
+            return ((navGetCurrentStateFlags() & NAV_CTL_LAND)) ? 1 : 0;
+#endif
+            
             break;
 
         case LOGIC_CONDITION_OPERAND_FLIGHT_IS_FAILSAFE: // 0/1
@@ -809,11 +814,11 @@ static int logicConditionGetFlightOperandValue(int operand) {
         case LOGIC_CONDITION_OPERAND_FLIGHT_RANGEFINDER_RAW:
             return rangefinderGetLatestRawAltitude();
             break;
-
+#ifdef USE_FW_AUTOLAND
         case LOGIC_CONDITION_OPERAND_FLIGHT_FW_LAND_STATE:
             return posControl.fwLandState.landState;
             break;
-
+#endif
         default:
             return 0;
             break;

src/main/target/common.h

@@ -141,6 +141,7 @@
 #define USE_POWER_LIMITS
 
 #define USE_SAFE_HOME
+#define USE_FW_AUTOLAND
 #define USE_AUTOTUNE_FIXED_WING
 #define USE_LOG
 #define USE_STATS