From 77822acbbf20c6594bc187a5b804ed8dc283b059 Mon Sep 17 00:00:00 2001
From: jphelirc <jphelirc@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Thu, 23 Dec 2010 14:05:59 +0000
Subject: [PATCH] preparing for addon features

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1235 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/APM_Config.h       | 34 ++++++++++++--------
 ArduCopterMega/ArduCopterMega.pde | 53 ++++++++++++++++++++++++++++++-
 ArduCopterMega/control_modes.pde  |  2 +-
 3 files changed, 74 insertions(+), 15 deletions(-)

diff --git a/ArduCopterMega/APM_Config.h b/ArduCopterMega/APM_Config.h
index 0facb1e8ce..3b8a354fdb 100644
--- a/ArduCopterMega/APM_Config.h
+++ b/ArduCopterMega/APM_Config.h
@@ -1,13 +1,21 @@
-// Example config file. Use APM_Config.h.reference and the wiki to find additional defines to setup your plane.
-// Once you upload the code, run the factory "reset" to save all config values to EEPROM.
-// After reset, use the setup mode to set your radio limits for CH1-4, and to set your flight modes.
-
-#define GPS_PROTOCOL  		GPS_PROTOCOL_MTK
-#define GCS_PROTOCOL        GCS_PROTOCOL_NONE
-
-#define MAGORIENTATION	AP_COMPASS_COMPONENTS_UP_PINS_BACK
-#define ARM_AT_STARTUP	0
-//#define MAGOFFSET		30.50,15.00,47.00
-//#define DECLINATION		14.2
-
-
+// Example config file. Use APM_Config.h.reference and the wiki to find additional defines to setup your plane.
+// Once you upload the code, run the factory "reset" to save all config values to EEPROM.
+// After reset, use the setup mode to set your radio limits for CH1-4, and to set your flight modes.
+
+#define GPS_PROTOCOL  		GPS_PROTOCOL_MTK
+#define GCS_PROTOCOL        GCS_PROTOCOL_NONE
+
+#define MAGORIENTATION	AP_COMPASS_COMPONENTS_UP_PINS_BACK
+#define ARM_AT_STARTUP	0
+//#define MAGOFFSET		30.50,15.00,47.00
+//#define DECLINATION		14.2
+
+
+// For future development, don't enable unless you know them
+// These are all experimental and underwork, jp 23-12-10
+//#define ENABLE_EXTRAS     ENABLED
+//#define ENABLE_EXTRAINIT  ENABLED
+//#define ENABLE_CAM        ENABLED
+//#define ENABLE_AM         ENABLED
+//#define ENABLE_xx         ENABLED
+
diff --git a/ArduCopterMega/ArduCopterMega.pde b/ArduCopterMega/ArduCopterMega.pde
index da1399054b..0c28c18760 100644
--- a/ArduCopterMega/ArduCopterMega.pde
+++ b/ArduCopterMega/ArduCopterMega.pde
@@ -364,10 +364,49 @@ float 			load;						// % MCU cycles used
 
 byte			FastLoopGate = 9;
 
+
+
+// AC generic variables for future use
+byte gled_status = HIGH;
+long gled_timer;
+int gled_speed = 200;
+
+long cli_timer;
+byte cli_status = LOW;
+byte cli_step;
+
+byte fled_status;
+byte res1;
+byte res2;
+byte res3;
+byte res4;
+byte res5;
+byte cam_mode;
+byte cam1;
+byte cam2;
+byte cam3;
+
+int ires1;
+int ires2;
+int ires3;
+int ires4;
+
+boolean SW_DIP1;  // closest to SW2 slider switch
+boolean SW_DIP2;
+boolean SW_DIP3;
+boolean SW_DIP4;  // closest to header pins
+
+
+
 // Basic Initialization
 //---------------------
 void setup() {
 	init_ardupilot();
+
+        #if ENABLE_EXTRAINIT
+             init_extras();
+        #endif
+
 }
 
 void loop()
@@ -544,6 +583,18 @@ void medium_loop()
 	#if ENABLE_HIL
 		output_HIL();
 	#endif
+
+        #if ENABLE_CAM
+                camera_stabilization();
+        #endif
+
+        #if ENABLE_AM
+                flight_lights();
+        #endif
+        
+        #if ENABLE_xx
+                do_something_usefull();
+        #endif              
 	
 	
 	if (millis() - perf_mon_timer > 20000) {
@@ -835,4 +886,4 @@ void read_AHRS(void)
 	roll_sensor 	= dcm.roll_sensor;
 	pitch_sensor 	= dcm.pitch_sensor;
 	yaw_sensor 		= dcm.yaw_sensor;
-}
\ No newline at end of file
+}
diff --git a/ArduCopterMega/control_modes.pde b/ArduCopterMega/control_modes.pde
index 5688885075..d9524d0d3c 100644
--- a/ArduCopterMega/control_modes.pde
+++ b/ArduCopterMega/control_modes.pde
@@ -99,4 +99,4 @@ void read_trim_switch()
 			trim_flag = false;
 		}
 	}
-}
\ No newline at end of file
+}