From 1be41b83fc88f07cf5192dfb0acadc055db07407 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 25 Mar 2018 09:23:03 +1100
Subject: [PATCH] SRV_Channel: added SERVO_BLHI_ parameters

---
 libraries/SRV_Channel/SRV_Channel.h       | 5 +++++
 libraries/SRV_Channel/SRV_Channel_aux.cpp | 2 ++
 libraries/SRV_Channel/SRV_Channels.cpp    | 6 ++++++
 3 files changed, 13 insertions(+)

diff --git a/libraries/SRV_Channel/SRV_Channel.h b/libraries/SRV_Channel/SRV_Channel.h
index 692dfc2126..be7b8408d8 100644
--- a/libraries/SRV_Channel/SRV_Channel.h
+++ b/libraries/SRV_Channel/SRV_Channel.h
@@ -19,6 +19,7 @@
 #include <AP_Common/Bitmask.h>
 #include <AP_Volz_Protocol/AP_Volz_Protocol.h>
 #include <AP_SBusOut/AP_SBusOut.h>
+#include <AP_BLHeli/AP_BLHeli.h>
 
 #define NUM_SERVO_CHANNELS 16
 
@@ -445,6 +446,10 @@ private:
     AP_SBusOut sbus;
     static AP_SBusOut *sbus_ptr;
 
+    // support for BLHeli protocol
+    AP_BLHeli blheli;
+    static AP_BLHeli *blheli_ptr;
+    
     SRV_Channel obj_channels[NUM_SERVO_CHANNELS];
 
     static struct srv_function {
diff --git a/libraries/SRV_Channel/SRV_Channel_aux.cpp b/libraries/SRV_Channel/SRV_Channel_aux.cpp
index dd304067e7..b6cc4445ca 100644
--- a/libraries/SRV_Channel/SRV_Channel_aux.cpp
+++ b/libraries/SRV_Channel/SRV_Channel_aux.cpp
@@ -164,6 +164,8 @@ void SRV_Channels::enable_aux_servos()
             hal.rcout->enable_ch(channels[i].ch_num);
         }
     }
+    
+    blheli_ptr->update();
 }
 
 /// enable output channels using a channel mask
diff --git a/libraries/SRV_Channel/SRV_Channels.cpp b/libraries/SRV_Channel/SRV_Channels.cpp
index 5258c41a02..05ed7f7c80 100644
--- a/libraries/SRV_Channel/SRV_Channels.cpp
+++ b/libraries/SRV_Channel/SRV_Channels.cpp
@@ -28,6 +28,7 @@ SRV_Channel *SRV_Channels::channels;
 SRV_Channels *SRV_Channels::instance;
 AP_Volz_Protocol *SRV_Channels::volz_ptr;
 AP_SBusOut *SRV_Channels::sbus_ptr;
+AP_BLHeli *SRV_Channels::blheli_ptr;
 
 bool SRV_Channels::disabled_passthrough;
 bool SRV_Channels::initialised;
@@ -122,6 +123,10 @@ const AP_Param::GroupInfo SRV_Channels::var_info[] = {
     // @Path: ../AP_SBusOut/AP_SBusOut.cpp
     AP_SUBGROUPINFO(sbus, "_SBUS_",  20, SRV_Channels, AP_SBusOut),
 
+    // @Group: _BLH_
+    // @Path: ../AP_BLHeli/AP_BLHeli.cpp
+    AP_SUBGROUPINFO(blheli, "_BLH_",  21, SRV_Channels, AP_BLHeli),
+    
     AP_GROUPEND
 };
 
@@ -143,6 +148,7 @@ SRV_Channels::SRV_Channels(void)
 
     volz_ptr = &volz;
     sbus_ptr = &sbus;
+    blheli_ptr = &blheli;
 }
 
 /*