RC_Channel: make EPM a subclass of AP_Gripper_Backend

libraries/RC_Channel/RC_Channel_aux.cpp

@@ -10,7 +10,7 @@ const AP_Param::GroupInfo RC_Channel_aux::var_info[] = {
     // @Param: FUNCTION
     // @DisplayName: Servo out function
     // @Description: Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
-    // @Values: 0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute,28:EPM,29:LandingGear,30:EngineRunEnable,31:HeliRSC,32:HeliTailRSC,33:Motor1,34:Motor2,35:Motor3,36:Motor4,37:Motor5,38:Motor6,39:Motor7,40:Motor8,51:RCIN1,52:RCIN2,53:RCIN3,54:RCIN4,55:RCIN5,56:RCIN6,57:RCIN7,58:RCIN8,59:RCIN9,60:RCIN10,61:RCIN11,62:RCIN12,63:RCIN13,64:RCIN14,65:RCIN15,66:RCIN16,67:Ignition,68:Choke,69:Starter,70:Throttle
+    // @Values: 0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute,28:Gripper,29:LandingGear,30:EngineRunEnable,31:HeliRSC,32:HeliTailRSC,33:Motor1,34:Motor2,35:Motor3,36:Motor4,37:Motor5,38:Motor6,39:Motor7,40:Motor8,51:RCIN1,52:RCIN2,53:RCIN3,54:RCIN4,55:RCIN5,56:RCIN6,57:RCIN7,58:RCIN8,59:RCIN9,60:RCIN10,61:RCIN11,62:RCIN12,63:RCIN13,64:RCIN14,65:RCIN15,66:RCIN16,67:Ignition,68:Choke,69:Starter,70:Throttle
     // @User: Standard
     AP_GROUPINFO("FUNCTION",       1, RC_Channel_aux, function, 0),
 

libraries/RC_Channel/RC_Channel_aux.h

@@ -59,7 +59,6 @@ public:
         k_flaperon2             = 25,            ///< flaperon, right wing
         k_steering              = 26,            ///< ground steering, used to separate from rudder
         k_parachute_release     = 27,            ///< parachute release
-        k_epm                   = 28,            ///< epm gripper
         k_gripper               = 28,            ///< gripper
         k_landing_gear_control  = 29,            ///< landing gear controller
         k_engine_run_enable     = 30,            ///< engine kill switch, used for gas airplanes and helicopters