From 024e5c3cc7c9965f43e44a779761f57d5d253b12 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 31 Oct 2012 12:38:26 +1100
Subject: [PATCH] RC_Channel: added set_radio() and set_radio_to_trim()
 functions

---
 libraries/RC_Channel/RC_Channel_aux.cpp | 26 +++++++++++++++++++++++++
 libraries/RC_Channel/RC_Channel_aux.h   |  6 ++++++
 2 files changed, 32 insertions(+)

diff --git a/libraries/RC_Channel/RC_Channel_aux.cpp b/libraries/RC_Channel/RC_Channel_aux.cpp
index a6488a5de3..c5cc14b951 100644
--- a/libraries/RC_Channel/RC_Channel_aux.cpp
+++ b/libraries/RC_Channel/RC_Channel_aux.cpp
@@ -99,6 +99,19 @@ enable_aux_servos()
 	}
 }
 
+/*
+  set radio_out for all channels matching the given function type
+ */
+void
+RC_Channel_aux::set_radio(RC_Channel_aux::Aux_servo_function_t function, int16_t value)
+{
+    for (uint8_t i = 0; i < 7; i++) {
+        if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
+			_aux_channels[i]->radio_out = value;
+		}
+    }
+}
+
 
 /*
   set and save the trim value to radio_in for all channels matching
@@ -141,6 +154,19 @@ RC_Channel_aux::set_radio_to_max(RC_Channel_aux::Aux_servo_function_t function)
     }
 }
 
+/*
+  set the radio_out value for any channel with the given function to radio_trim
+ */
+void
+RC_Channel_aux::set_radio_to_trim(RC_Channel_aux::Aux_servo_function_t function)
+{
+    for (uint8_t i = 0; i < 7; i++) {
+        if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
+			_aux_channels[i]->radio_out = _aux_channels[i]->radio_trim;
+		}
+    }
+}
+
 /*
   copy radio_in to radio_out for a given function
  */
diff --git a/libraries/RC_Channel/RC_Channel_aux.h b/libraries/RC_Channel/RC_Channel_aux.h
index c4cb4433bc..4bbd9148d0 100644
--- a/libraries/RC_Channel/RC_Channel_aux.h
+++ b/libraries/RC_Channel/RC_Channel_aux.h
@@ -50,6 +50,9 @@ public:
 
     void            output_ch(unsigned char ch_nr);
 
+	// set radio_out for a function channel
+	static void set_radio(Aux_servo_function_t function, int16_t value);
+
 	// set and save the trim for a function channel to radio_in
 	static void set_radio_trim(Aux_servo_function_t function);
 
@@ -59,6 +62,9 @@ public:
 	// set radio_out to radio_max
 	static void set_radio_to_max(Aux_servo_function_t function);
 
+	// set radio_out to radio_trim
+	static void set_radio_to_trim(Aux_servo_function_t function);
+
 	// copy radio_in to radio_out
 	static void copy_radio_in_out(Aux_servo_function_t function);