Plane: support 12 output channels on PX4

ArduPlane/ArduPlane.pde

@@ -932,7 +932,9 @@ static void slow_loop()
     case 1:
         slow_loopCounter++;
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+        update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11, &g.rc_12);
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
         update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11);
 #else
         update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);

ArduPlane/Attitude.pde

@@ -725,11 +725,14 @@ static void set_servos(void)
     g.rc_6.output_ch(CH_6);
     g.rc_7.output_ch(CH_7);
     g.rc_8.output_ch(CH_8);
- # if CONFIG_HAL_BOARD == HAL_BOARD_APM2
+ # if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4
     g.rc_9.output_ch(CH_9);
     g.rc_10.output_ch(CH_10);
     g.rc_11.output_ch(CH_11);
  # endif
+ # if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+    g.rc_12.output_ch(CH_12);
+ # endif
 }
 
 static bool demoing_servos;

ArduPlane/Parameters.h

@@ -180,6 +180,7 @@ public:
         k_param_throttle_slewrate,
         k_param_throttle_suppress_manual,
         k_param_throttle_passthru_stabilize,
+        k_param_rc_12,
 
         //
         // 200: Feed-forward gains
@@ -376,11 +377,14 @@ public:
     RC_Channel_aux rc_6;
     RC_Channel_aux rc_7;
     RC_Channel_aux rc_8;
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4
     RC_Channel_aux rc_9;
     RC_Channel_aux rc_10;
     RC_Channel_aux rc_11;
 #endif
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+    RC_Channel_aux rc_12;
+#endif
 
     // PID controllers
     //
@@ -410,11 +414,14 @@ public:
         rc_6                                    (CH_6),
         rc_7                                    (CH_7),
         rc_8                                    (CH_8),
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4
         rc_9                                    (CH_9),
         rc_10                                   (CH_10),
         rc_11                                   (CH_11),
 #endif
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+        rc_12                                   (CH_12),
+#endif
 
         // PID controller    initial P        initial I        initial D        initial imax
         //-----------------------------------------------------------------------------------

ArduPlane/Parameters.pde

@@ -655,7 +655,7 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp
     GGROUP(rc_8,                    "RC8_", RC_Channel_aux),
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4
     // @Group: RC9_
     // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp
     GGROUP(rc_9,                    "RC9_", RC_Channel_aux),
@@ -669,6 +669,12 @@ const AP_Param::Info var_info[] PROGMEM = {
     GGROUP(rc_11,                    "RC11_", RC_Channel_aux),
 #endif
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+    // @Group: RC12_
+    // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp
+    GGROUP(rc_12,                    "RC12_", RC_Channel_aux),
+#endif
+
 	GGROUP(pidNavPitchAirspeed,     "ARSP2PTCH_", PID),
 	GGROUP(pidTeThrottle,           "ENRGY2THR_", PID),
 	GGROUP(pidNavPitchAltitude,     "ALT2PTCH_",  PID),

ArduPlane/radio.pde

@@ -36,7 +36,9 @@ static void init_rc_in()
     rc_ch[CH_8] = &g.rc_8;
 
     //set auxiliary ranges
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+    update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11, &g.rc_12);
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
     update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11);
 #else
     update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
@@ -62,11 +64,14 @@ static void init_rc_out()
     servo_write(CH_7,   g.rc_7.radio_trim);
     servo_write(CH_8,   g.rc_8.radio_trim);
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4
     servo_write(CH_9,   g.rc_9.radio_trim);
     servo_write(CH_10,  g.rc_10.radio_trim);
     servo_write(CH_11,  g.rc_11.radio_trim);
 #endif
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+    servo_write(CH_12,  g.rc_12.radio_trim);
+#endif
 }
 
 static void read_radio()