From 300a8d2bbcf76da139c0ad09767510b7230bb8c1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 25 Apr 2013 20:01:34 +1000
Subject: [PATCH] Copter: support all 12 channels on PX4

last 4 channels are on the FMU pins
---
 ArduCopter/ArduCopter.pde |  4 +++-
 ArduCopter/Parameters.h   | 15 ++++++++++++++-
 ArduCopter/Parameters.pde |  9 +++++++++
 ArduCopter/radio.pde      |  4 +++-
 4 files changed, 29 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index a5d13d4101..b941259de1 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1235,7 +1235,9 @@ static void slow_loop()
     case 1:
         slow_loopCounter++;
 
-#if MOUNT == ENABLED
+#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 MOUNT == ENABLED
         update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_10, &g.rc_11);
 #endif
         enable_aux_servos();
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index f026dd066b..ed0da105c5 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -194,6 +194,8 @@ public:
         k_param_failsafe_battery_enabled,
         k_param_throttle_mid,
         k_param_failsafe_gps_enabled,  // 195
+        k_param_rc_9,
+        k_param_rc_12,
 
         //
         // 200: flight modes
@@ -356,6 +358,12 @@ public:
     RC_Channel_aux          rc_10;
     RC_Channel_aux          rc_11;
 #endif
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+    RC_Channel_aux          rc_9;
+    RC_Channel_aux          rc_12;
+#endif
+
     AP_Int16                rc_speed; // speed of fast RC Channels in Hz
 
     // Acro parameters
@@ -402,7 +410,12 @@ public:
         rc_6                (CH_6),
         rc_7                (CH_7),
         rc_8                (CH_8),
-#if MOUNT == ENABLED
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+        rc_9                (CH_9),
+        rc_10               (CH_10),
+        rc_11               (CH_11),
+        rc_12               (CH_12),
+#elif MOUNT == ENABLED
         rc_10               (CH_10),
         rc_11               (CH_11),
 #endif
diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index 956ce2f785..7d198b7ad7 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -455,6 +455,15 @@ const AP_Param::Info var_info[] PROGMEM = {
     GGROUP(rc_11,                    "RC11_", RC_Channel_aux),
 #endif
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+    // @Group: RC9_
+    // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
+    GGROUP(rc_9,                    "RC9_", RC_Channel_aux),
+    // @Group: RC12_
+    // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
+    GGROUP(rc_12,                   "RC12_", RC_Channel_aux),
+#endif
+
     // @Param: RC_SPEED
     // @DisplayName: ESC Update Speed
     // @Description: This is the speed in Hertz that your ESCs will receive updates
diff --git a/ArduCopter/radio.pde b/ArduCopter/radio.pde
index 9e5a1b9b3a..f6940ccc23 100644
--- a/ArduCopter/radio.pde
+++ b/ArduCopter/radio.pde
@@ -54,7 +54,9 @@ static void init_rc_in()
     g.rc_7.set_range(0,1000);
     g.rc_8.set_range(0,1000);
 
-#if MOUNT == ENABLED
+#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 MOUNT == ENABLED
     update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_10, &g.rc_11);
 #endif
 }