RC_Channel: log which RC channels are being overridden

libraries/RC_Channel/RC_Channel.h

@@ -399,6 +399,10 @@ public:
     static void set_override(const uint8_t chan, const int16_t value, const uint32_t timestamp_ms = 0); // set a channels override value
     static bool has_active_overrides(void);                            // returns true if there are overrides applied that are valid
 
+    // returns a mask indicating which channels have overrides.  Bit 0
+    // is RC channel 1.  Beware this is not a cheap call.
+    static uint16_t get_override_mask();
+
     class RC_Channel *find_channel_for_option(const RC_Channel::aux_func_t option);
     bool duplicate_options_exist();
     RC_Channel::AuxSwitchPos get_channel_pos(const uint8_t rcmapchan) const;

libraries/RC_Channel/RC_Channels.cpp

@@ -107,6 +107,18 @@ void RC_Channels::clear_overrides(void)
     // copter and plane, RC_Channels needs to control failsafes to resolve this
 }
 
+uint16_t RC_Channels::get_override_mask(void)
+{
+    uint16_t ret = 0;
+    RC_Channels &_rc = rc();
+    for (uint8_t i = 0; i < NUM_RC_CHANNELS; i++) {
+        if (_rc.channel(i)->has_override()) {
+            ret |= (1U << i);
+        }
+    }
+    return ret;
+}
+
 void RC_Channels::set_override(const uint8_t chan, const int16_t value, const uint32_t timestamp_ms)
 {
     RC_Channels &_rc = rc();