From e01fef755abe864eace390ab979eb7666d85d197 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Wed, 15 Jan 2025 14:07:47 +0100
Subject: [PATCH] Control allocation: make heli rpm control an optional build
 flag disabled by default

to save flash.
The rpm capture dirver is also disabled on default releases
---
 src/modules/control_allocator/Kconfig                     | 7 +++++++
 .../ActuatorEffectivenessHelicopter.cpp                   | 8 ++++++--
 .../ActuatorEffectivenessHelicopter.hpp                   | 4 +++-
 3 files changed, 16 insertions(+), 3 deletions(-)

diff --git a/src/modules/control_allocator/Kconfig b/src/modules/control_allocator/Kconfig
index 4352269d50..63c1c61500 100644
--- a/src/modules/control_allocator/Kconfig
+++ b/src/modules/control_allocator/Kconfig
@@ -10,3 +10,10 @@ menuconfig USER_CONTROL_ALLOCATOR
 	depends on BOARD_PROTECTED && MODULES_CONTROL_ALLOCATOR
 	---help---
 		Put control_allocator in userspace memory
+
+menuconfig CONTROL_ALLOCATOR_RPM_CONTROL
+	bool "Include RPM control for Helicopter rotor"
+	default n
+	depends on MODULES_CONTROL_ALLOCATOR
+	---help---
+		Add support for controlling the helicopter main rotor rpm
diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
index 76481da71b..643b218c47 100644
--- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
+++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
@@ -135,11 +135,15 @@ void ActuatorEffectivenessHelicopter::updateSetpoint(const matrix::Vector<float,
 	_saturation_flags = {};
 
 	const float spoolup_progress = throttleSpoolupProgress();
+	float rpm_control_output = 0;
+#if CONTROL_ALLOCATOR_RPM_CONTROL
 	_rpm_control.setSpoolupProgress(spoolup_progress);
+	rpm_control_output = _rpm_control.getActuatorCorrection();
+#endif // CONTROL_ALLOCATOR_RPM_CONTROL
 
 	// throttle/collective pitch curve
-	const float throttle = (math::interpolateN(-control_sp(ControlAxis::THRUST_Z),
-				_geometry.throttle_curve) + _rpm_control.getActuatorCorrection()) * spoolup_progress;
+	const float throttle = (math::interpolateN(-control_sp(ControlAxis::THRUST_Z), _geometry.throttle_curve)
+				+ rpm_control_output) * spoolup_progress;
 	const float collective_pitch = math::interpolateN(-control_sp(ControlAxis::THRUST_Z), _geometry.pitch_curve);
 
 	// actuator mapping
diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp
index 565c8931c9..93083fa066 100644
--- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp
+++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp
@@ -134,5 +134,7 @@ private:
 
 	const ActuatorType _tail_actuator_type;
 
-	RpmControl _rpm_control{this};
+#if CONTROL_ALLOCATOR_RPM_CONTROL
+	RpmControl _rpm_control {this};
+#endif // CONTROL_ALLOCATOR_RPM_CONTROL
 };