Rover: add arm/disarm to ch7 switch

APMrover2/Parameters.cpp

@@ -129,7 +129,7 @@ const AP_Param::Info Rover::var_info[] = {
     // @Param: CH7_OPTION
     // @DisplayName: Channel 7 option
     // @Description: What to do use channel 7 for
-    // @Values: 0:Nothing,1:SaveWaypoint,2:LearnCruiseSpeed
+    // @Values: 0:Nothing,1:SaveWaypoint,2:LearnCruiseSpeed,3:ArmDisarm
     // @User: Standard
     GSCALAR(ch7_option,             "CH7_OPTION",          CH7_OPTION),
 

APMrover2/control_modes.cpp

@@ -189,6 +189,15 @@ void Rover::read_aux_switch()
             cruise_learn_complete();
         }
         break;
+
+    // arm or disarm the motors
+    case CH7_ARM_DISARM:
+        if (aux_ch7 == AUX_SWITCH_HIGH) {
+            arm_motors(AP_Arming::RUDDER);
+        } else if (aux_ch7 == AUX_SWITCH_LOW) {
+            disarm_motors();
+        }
+        break;
     }
 }
 

APMrover2/defines.h

@@ -17,7 +17,8 @@
 enum ch7_option {
     CH7_DO_NOTHING      = 0,
     CH7_SAVE_WP         = 1,
-    CH7_LEARN_CRUISE    = 2
+    CH7_LEARN_CRUISE    = 2,
+    CH7_ARM_DISARM      = 3
 };
 
 // HIL enumerations