Copter: Create new heli RSC RC Channel object.

ArduCopter/Copter.cpp

@@ -31,7 +31,7 @@ Copter::Copter(void) :
             FUNCTOR_BIND_MEMBER(&Copter::exit_mission, void)),
     control_mode(STABILIZE),
 #if FRAME_CONFIG == HELI_FRAME  // helicopter constructor requires more arguments
-    motors(g.rc_7, g.rc_8, g.heli_servo_1, g.heli_servo_2, g.heli_servo_3, g.heli_servo_4, MAIN_LOOP_RATE),
+    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),
 #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/Parameters.cpp

@@ -516,6 +516,9 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
     // @Group: HS4_
     // @Path: ../libraries/RC_Channel/RC_Channel.cpp
     GGROUP(heli_servo_4,    "HS4_", RC_Channel),
+    // @Group: H_RSC_
+    // @Path: ../libraries/RC_Channel/RC_Channel.cpp
+    GGROUP(heli_servo_rsc,    "H_RSC_", RC_Channel),
 
     // @Param: H_STAB_COL_MIN
     // @DisplayName: Heli Stabilize Throttle Collective Minimum

ArduCopter/Parameters.h

@@ -161,6 +161,7 @@ public:
         k_param_heli_yaw_ff,        // remove
         k_param_heli_stab_col_min,
         k_param_heli_stab_col_max,  // 88
+        k_param_heli_servo_rsc,     // 89 = full!
 
         //
         // 90: misc2
@@ -437,6 +438,7 @@ public:
 #if FRAME_CONFIG ==     HELI_FRAME
     // Heli
     RC_Channel      heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4;     // servos for swash plate and tail
+    RC_Channel      heli_servo_rsc;                                             // servo for rotor speed control output
     AP_Int16        heli_stab_col_min;                                          // min collective while pilot directly controls collective in stabilize mode
     AP_Int16        heli_stab_col_max;                                          // min collective while pilot directly controls collective in stabilize mode
 #endif
@@ -515,6 +517,7 @@ public:
         heli_servo_2        (CH_2),
         heli_servo_3        (CH_3),
         heli_servo_4        (CH_4),
+        heli_servo_rsc      (CH_8),
 #endif
 #if FRAME_CONFIG ==     SINGLE_FRAME
         single_servo_1        (CH_1),