Copter: Acro Trainer added to Ch7/Ch8 switch

ArduCopter/Parameters.pde

@@ -405,14 +405,14 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Param: CH7_OPT
     // @DisplayName: Channel 7 option
     // @Description: Select which function if performed when CH7 is above 1800 pwm
-    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode
+    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer
     // @User: Standard
     GSCALAR(ch7_option, "CH7_OPT",                  CH7_OPTION),
 
     // @Param: CH8_OPT
     // @DisplayName: Channel 8 option
     // @Description: Select which function if performed when CH8 is above 1800 pwm
-    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode
+    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer
     // @User: Standard
     GSCALAR(ch8_option, "CH8_OPT",                  CH8_OPTION),
 

ArduCopter/control_modes.pde

@@ -97,6 +97,7 @@ static void init_aux_switches()
         case AUX_SWITCH_FENCE:
         case AUX_SWITCH_RESETTOARMEDYAW:
         case AUX_SWITCH_SUPERSIMPLE_MODE:
+        case AUX_SWITCH_ACRO_TRAINER:
             do_aux_switch_function(g.ch7_option, ap_system.CH7_flag);
             break;
     }
@@ -107,6 +108,7 @@ static void init_aux_switches()
         case AUX_SWITCH_FENCE:
         case AUX_SWITCH_RESETTOARMEDYAW:
         case AUX_SWITCH_SUPERSIMPLE_MODE:
+        case AUX_SWITCH_ACRO_TRAINER:
             do_aux_switch_function(g.ch8_option, ap_system.CH8_flag);
             break;
     }
@@ -244,7 +246,20 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
             }else{
                 set_yaw_mode(YAW_HOLD);
             }
-            break; 
+            break;
+
+        case AUX_SWITCH_ACRO_TRAINER:
+            switch(ch_flag) {
+                case AUX_SWITCH_LOW:
+                    g.acro_trainer = ACRO_TRAINER_DISABLED;
+                    break;
+                case AUX_SWITCH_MIDDLE:
+                    g.acro_trainer = ACRO_TRAINER_LEVELING;
+                    break;
+                case AUX_SWITCH_HIGH:
+                    g.acro_trainer = ACRO_TRAINER_LIMITED;
+                    break;
+            }
     }
 }
 

ArduCopter/defines.h

@@ -65,6 +65,7 @@
 #define AUX_SWITCH_FENCE            11      // allow enabling or disabling fence in flight
 #define AUX_SWITCH_RESETTOARMEDYAW  12      // changes yaw to be same as when quad was armed
 #define AUX_SWITCH_SUPERSIMPLE_MODE 13      // change to simple mode in middle, super simple at top
+#define AUX_SWITCH_ACRO_TRAINER     14      // low = disabled, middle = leveled, high = leveled and limited
 
 // values used by the ap.ch7_opt and ap.ch8_opt flags
 #define AUX_SWITCH_LOW              0       // indicates auxiliar switch is in the low position (pwm <1200)