From ca54fb31b4dbc0220255aaff779ea40550279ff4 Mon Sep 17 00:00:00 2001
From: Tatsuya Yamaguchi <susumu-336@hotmail.co.jp>
Date: Fri, 23 Jan 2026 14:19:50 +0900
Subject: [PATCH] Copter: hide PLDP_* params when payload place is disabled

---
 ArduCopter/Parameters.cpp | 2 ++
 ArduCopter/Parameters.h   | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index d71252af221..f66c76124df 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1068,6 +1068,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
  */
 const AP_Param::GroupInfo ParametersG2::var_info2[] = {
 
+#if AC_PAYLOAD_PLACE_ENABLED
     // @Param: PLDP_THRESH
     // @DisplayName: Payload Place thrust ratio threshold
     // @Description: Ratio of vertical thrust during decent below which payload touchdown will trigger.
@@ -1098,6 +1099,7 @@ const AP_Param::GroupInfo ParametersG2::var_info2[] = {
     // @Range: 0 5
     // @User: Standard
     AP_GROUPINFO("PLDP_SPEED_DN", 4, ParametersG2, pldp_descent_speed_ms, 0.0),
+#endif  // AC_PAYLOAD_PLACE_ENABLED
 
     // @Param: SURFTRAK_TC
     // @DisplayName: Surface Tracking Filter Time Constant
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 2661fe4a406..4f52b88e0aa 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -679,11 +679,13 @@ public:
     AC_WeatherVane weathervane;
 #endif
 
+#if AC_PAYLOAD_PLACE_ENABLED
     // payload place parameters
     AP_Float pldp_thrust_placed_fraction;
     AP_Float pldp_range_finder_maximum_m;
     AP_Float pldp_delay_s;
     AP_Float pldp_descent_speed_ms;
+#endif  // AC_PAYLOAD_PLACE_ENABLED
 
     AP_Int8 att_enable;
     AP_Int8 att_decimation;