Copter: added AP_Button support

ArduCopter/ArduCopter.cpp

@@ -151,6 +151,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #ifdef USERHOOK_SUPERSLOWLOOP
     SCHED_TASK(userhook_SuperSlowLoop, 1,   75),
 #endif
+    SCHED_TASK(button_update,          5,    100),
 };
 
 

ArduCopter/Copter.h

@@ -88,6 +88,7 @@
 #include <AP_RPM/AP_RPM.h>
 #include <AC_InputManager/AC_InputManager.h>        // Pilot input handling library
 #include <AC_InputManager/AC_InputManager_Heli.h>   // Heli specific pilot input handling library
+#include <AP_Button/AP_Button.h>
 
 // Configuration
 #include "defines.h"
@@ -660,6 +661,7 @@ private:
     void send_rangefinder(mavlink_channel_t chan);
     void send_rpm(mavlink_channel_t chan);
     void rpm_update();
+    void button_update();
     void send_pid_tuning(mavlink_channel_t chan);
     void gcs_send_message(enum ap_message id);
     void gcs_send_mission_item_reached_message(uint16_t mission_index);

ArduCopter/Parameters.cpp

@@ -966,6 +966,10 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("WP_TKOFF_NAV_ALT", 1, ParametersG2, takeoff_nav_alt, 0),
 
+    // @Group: BTN_
+    // @Path: ../libraries/AP_Button/AP_Button.cpp
+    AP_SUBGROUPINFO(button, "BTN_", 2, ParametersG2, AP_Button),
+    
     AP_GROUPEND
 };
 

ArduCopter/Parameters.h

@@ -543,6 +543,9 @@ public:
 
     // altitude at which nav control can start in takeoff
     AP_Float takeoff_nav_alt;
+
+    // button checking
+    AP_Button button;
 };
 
 extern const AP_Param::Info        var_info[];

ArduCopter/sensors.cpp

@@ -226,3 +226,11 @@ void Copter::epm_update()
     epm.update();
 }
 #endif
+
+/*
+  update AP_Button
+ */
+void Copter::button_update(void)
+{
+    g2.button.update();
+}