Copter: Utilize Input Manager Class

ArduCopter/Copter.cpp

@@ -32,6 +32,9 @@ Copter::Copter(void) :
     control_mode(STABILIZE),
 #if FRAME_CONFIG == HELI_FRAME  // helicopter constructor requires more arguments
     motors(g.rc_7, g.heli_servo_rsc, g.heli_servo_1, g.heli_servo_2, g.heli_servo_3, g.heli_servo_4, MAIN_LOOP_RATE),
+
+    // ToDo: Input Manager is only used by Heli for 3.3, but will be used by all frames for 3.4
+    input_manager(MAIN_LOOP_RATE),
 #elif FRAME_CONFIG == TRI_FRAME  // tri constructor requires additional rc_7 argument to allow tail servo reversing
     motors(MAIN_LOOP_RATE),
 #elif FRAME_CONFIG == SINGLE_FRAME  // single constructor requires extra servos for flaps

ArduCopter/Copter.h

@@ -105,6 +105,9 @@
 #include <AC_PrecLand/AC_PrecLand.h>
 #include <AP_IRLock/AP_IRLock.h>
 #endif
+#include <AC_InputManager/AC_InputManager.h>        // Pilot input handling library
+#include <AC_InputManager/AC_InputManager_Heli.h>   // Heli specific pilot input handling library
+
 
 // AP_HAL to Arduino compatibility layer
 // Configuration
@@ -506,6 +509,13 @@ private:
     AC_PrecLand precland;
 #endif
 
+    // Pilot Input Management Library
+    // Only used for Helicopter for AC3.3, to be expanded to include Multirotor
+    // child class for AC3.4
+#if FRAME_CONFIG == HELI_FRAME
+    AC_InputManager_Heli input_manager;
+#endif
+
     // use this to prevent recursion during sensor init
     bool in_mavlink_delay;
 

ArduCopter/Parameters.cpp

@@ -901,6 +901,12 @@ const AP_Param::Info Copter::var_info[] = {
     // @Path: ../libraries/AP_LandingGear/AP_LandingGear.cpp
     GOBJECT(landinggear,    "LGR_", AP_LandingGear),
 
+#if FRAME_CONFIG == HELI_FRAME
+    // @Group: IM_
+    // @Path: ../libraries/AC_InputManager_Heli.cpp
+    GOBJECT(input_manager, "IM_", AC_InputManager_Heli),
+#endif
+
     // @Group: COMPASS_
     // @Path: ../libraries/AP_Compass/Compass.cpp
     GOBJECT(compass,        "COMPASS_", Compass),

ArduCopter/Parameters.h

@@ -83,8 +83,8 @@ public:
         // Landing gear object
         k_param_landinggear,    // 18
 
-        // precision landing object
+        // Input Management object
-        k_param_precland,   // 19
+        k_param_input_manager,  // 19
 
         // Misc
         //
@@ -145,6 +145,9 @@ public:
         k_param_gps_glitch,             // deprecated
         k_param_baro_glitch,            // 71 - deprecated
 
+        // 74: precision landing object
+        k_param_precland = 74,
+
         //
         // 75: Singlecopter, CoaxCopter
         //