From 0830eaf3635c601f869d9756a5c553d1a9b13eb7 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 14 Jan 2013 13:07:52 +0900
Subject: [PATCH] Copter: added experimental LOITER_REPOSITIONING #define to
 config.h

APM_Config.h should be used to overriding the standard parameters but
they still require a definition in config.h or they will be undefined
when built by the mission planner.
---
 ArduCopter/APM_Config.h | 3 +--
 ArduCopter/config.h     | 7 ++++++-
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index 66e9cdfdc..139326c76 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -69,6 +69,5 @@
 
 //#define LOGGING_ENABLED		DISABLED
 
-#define LOITER_REPOSITIONING    DISABLED                          // Experimental Do Not Use
+// #define LOITER_REPOSITIONING    ENABLED                         // Experimental Do Not Use
 // #define LOITER_RP               ROLL_PITCH_LOITER_PR
-
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 794f38bc9..c361773ff 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -658,7 +658,7 @@
 
 
 
-// LOITER Mode
+// Optical Flow LOITER Mode
 #ifndef OF_LOITER_YAW
  # define OF_LOITER_YAW          	YAW_HOLD
 #endif
@@ -830,6 +830,11 @@
 #ifndef LOITER_IMAX
  # define LOITER_IMAX          		30             // degrees
 #endif
+
+// Loiter repositioning configuration (experimental)
+#ifndef LOITER_REPOSITIONING
+ # define LOITER_REPOSITIONING      DISABLED
+#endif
 #ifndef LOITER_REPOSITION_RATE
  # define LOITER_REPOSITION_RATE   500.0            // cm/s
 #endif
-- 
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