Copter: Initial expansion of Aux Switch to Ch7-12

ArduCopter/ArduCopter.pde

@@ -334,25 +334,29 @@ static bool sonar_enabled = true; // enable user switch for sonar
 static union {
     struct {
         uint8_t unused1             : 1; // 0
-        uint8_t simple_mode         : 2; // 1,2 // This is the state of simple mode : 0 = disabled ; 1 = SIMPLE ; 2 = SUPERSIMPLE
-        uint8_t pre_arm_rc_check    : 1; // 3   // true if rc input pre-arm checks have been completed successfully
-        uint8_t pre_arm_check       : 1; // 4   // true if all pre-arm checks (rc, accel calibration, gps lock) have been performed
-        uint8_t auto_armed          : 1; // 5   // stops auto missions from beginning until throttle is raised
-        uint8_t logging_started     : 1; // 6   // true if dataflash logging has started
-        uint8_t land_complete       : 1; // 7   // true if we have detected a landing
+        uint8_t simple_mode         : 2; // 1,2     // This is the state of simple mode : 0 = disabled ; 1 = SIMPLE ; 2 = SUPERSIMPLE
+        uint8_t pre_arm_rc_check    : 1; // 3       // true if rc input pre-arm checks have been completed successfully
+        uint8_t pre_arm_check       : 1; // 4       // true if all pre-arm checks (rc, accel calibration, gps lock) have been performed
+        uint8_t auto_armed          : 1; // 5       // stops auto missions from beginning until throttle is raised
+        uint8_t logging_started     : 1; // 6       // true if dataflash logging has started
+        uint8_t land_complete       : 1; // 7       // true if we have detected a landing
         uint8_t new_radio_frame     : 1; // 8       // Set true if we have new PWM data to act on from the Radio
-        uint8_t CH7_flag            : 2; // 9,10   // ch7 aux switch : 0 is low or false, 1 is center or true, 2 is high
+        uint8_t CH7_flag            : 2; // 9,10    // ch7 aux switch : 0 is low or false, 1 is center or true, 2 is high
         uint8_t CH8_flag            : 2; // 11,12   // ch8 aux switch : 0 is low or false, 1 is center or true, 2 is high
-        uint8_t usb_connected       : 1; // 13      // true if APM is powered from USB connection
-        uint8_t rc_receiver_present : 1; // 14  // true if we have an rc receiver present (i.e. if we've ever received an update
-        uint8_t compass_mot         : 1; // 15  // true if we are currently performing compassmot calibration
-        uint8_t motor_test          : 1; // 16  // true if we are currently performing the motors test
-        uint8_t initialised         : 1; // 17  // true once the init_ardupilot function has completed.  Extended status to GCS is not sent until this completes
-        uint8_t land_complete_maybe : 1; // 18  // true if we may have landed (less strict version of land_complete)
-        uint8_t throttle_zero       : 1; // 19  // true if the throttle stick is at zero, debounced
-        uint8_t system_time_set     : 1; // 20  // true if the system time has been set from the GPS
-        uint8_t gps_base_pos_set    : 1; // 21  // true when the gps base position has been set (used for RTK gps only)
-        enum HomeState home_state   : 2; // 22,23 - home status (unset, set, locked)
+        uint8_t CH9_flag            : 2; // 13,14   // ch9 aux switch : 0 is low or false, 1 is center or true, 2 is high
+        uint8_t CH10_flag           : 2; // 15,16   // ch10 aux switch : 0 is low or false, 1 is center or true, 2 is high
+        uint8_t CH11_flag           : 2; // 17,18   // ch11 aux switch : 0 is low or false, 1 is center or true, 2 is high
+        uint8_t CH12_flag           : 2; // 19,20   // ch12 aux switch : 0 is low or false, 1 is center or true, 2 is high
+        uint8_t usb_connected       : 1; // 21      // true if APM is powered from USB connection
+        uint8_t rc_receiver_present : 1; // 22      // true if we have an rc receiver present (i.e. if we've ever received an update
+        uint8_t compass_mot         : 1; // 23      // true if we are currently performing compassmot calibration
+        uint8_t motor_test          : 1; // 24      // true if we are currently performing the motors test
+        uint8_t initialised         : 1; // 25      // true once the init_ardupilot function has completed.  Extended status to GCS is not sent until this completes
+        uint8_t land_complete_maybe : 1; // 26      // true if we may have landed (less strict version of land_complete)
+        uint8_t throttle_zero       : 1; // 27      // true if the throttle stick is at zero, debounced
+        uint8_t system_time_set     : 1; // 28      // true if the system time has been set from the GPS
+        uint8_t gps_base_pos_set    : 1; // 29      // true when the gps base position has been set (used for RTK gps only)
+        enum HomeState home_state   : 2; // 30,31   // home status (unset, set, locked)
     };
     uint32_t value;
 } ap;

ArduCopter/Parameters.h

@@ -185,6 +185,10 @@ public:
         k_param_serial2_baud_old, // deprecated
         k_param_serial2_protocol, // deprecated
         k_param_serial_manager,  // 119
+        k_param_ch9_option,
+        k_param_ch10_option,
+        k_param_ch11_option,
+        k_param_ch12_option,     // 123
 
         //
         // 140: Sensor parameters
@@ -392,6 +396,10 @@ public:
     AP_Int8         frame_orientation;
     AP_Int8         ch7_option;
     AP_Int8         ch8_option;
+    AP_Int8         ch9_option;
+    AP_Int8         ch10_option;
+    AP_Int8         ch11_option;
+    AP_Int8         ch12_option;
     AP_Int8         arming_check;
 
     AP_Int8         land_repositioning;

ArduCopter/Parameters.pde

@@ -357,6 +357,34 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Standard
     GSCALAR(ch8_option, "CH8_OPT",                  CH8_OPTION),
 
+    // @Param: CH9_OPT
+    // @DisplayName: Channel 9 option
+    // @Description: Select which function if performed when CH9 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:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear
+    // @User: Standard
+    GSCALAR(ch9_option, "CH9_OPT",                  CH9_OPTION),
+
+    // @Param: CH10_OPT
+    // @DisplayName: Channel 10 option
+    // @Description: Select which function if performed when CH10 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:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear
+    // @User: Standard
+    GSCALAR(ch10_option, "CH10_OPT",                  CH10_OPTION),
+
+    // @Param: CH11_OPT
+    // @DisplayName: Channel 11 option
+    // @Description: Select which function if performed when CH11 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:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear
+    // @User: Standard
+    GSCALAR(ch11_option, "CH11_OPT",                  CH11_OPTION),
+
+    // @Param: CH12_OPT
+    // @DisplayName: Channel 12 option
+    // @Description: Select which function if performed when CH12 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:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear
+    // @User: Standard
+    GSCALAR(ch12_option, "CH12_OPT",                  CH12_OPTION),
+
     // @Param: ARMING_CHECK
     // @DisplayName: Arming check
     // @Description: Allows enabling or disabling of pre-arming checks of receiver, accelerometer, barometer, compass and GPS

ArduCopter/config.h

@@ -191,6 +191,22 @@
  # define CH8_OPTION            AUX_SWITCH_DO_NOTHING
 #endif
 
+#ifndef CH9_OPTION
+ # define CH9_OPTION            AUX_SWITCH_DO_NOTHING
+#endif
+
+#ifndef CH10_OPTION
+ # define CH10_OPTION           AUX_SWITCH_DO_NOTHING
+#endif
+
+#ifndef CH11_OPTION
+ # define CH11_OPTION           AUX_SWITCH_DO_NOTHING
+#endif
+
+#ifndef CH12_OPTION
+ # define CH12_OPTION           AUX_SWITCH_DO_NOTHING
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // HIL_MODE                                 OPTIONAL
 

ArduCopter/control_flip.pde

@@ -6,7 +6,7 @@
  *      Adapted and updated for AC2 in 2011 by Jason Short
  *
  *      Controls:
- *          CH7_OPT or CH8_OPT parameter must be set to "Flip" (AUX_SWITCH_FLIP) which is "2"
+ *          CH7_OPT - CH12_OPT parameter must be set to "Flip" (AUX_SWITCH_FLIP) which is "2"
  *          Pilot switches to Stabilize, Acro or AltHold flight mode and puts ch7/ch8 switch to ON position
  *          Vehicle will Roll right by default but if roll or pitch stick is held slightly left, forward or back it will flip in that direction
  *          Vehicle should complete the roll within 2.5sec and will then return to the original flight mode it was in before flip was triggered

ArduCopter/defines.h

@@ -22,7 +22,7 @@
 #define AUTO_YAW_LOOK_AHEAD             4       // point in the direction the copter is moving
 #define AUTO_YAW_RESETTOARMEDYAW        5       // point towards heading at time motors were armed
 
-// Ch6, Ch7 and Ch8 aux switch control
+// Ch6... Ch12 aux switch control
 #define AUX_SWITCH_PWM_TRIGGER_HIGH 1800   // pwm value above which the ch7 or ch8 option will be invoked
 #define AUX_SWITCH_PWM_TRIGGER_LOW  1200   // pwm value below which the ch7 or ch8 option will be disabled
 #define CH6_PWM_TRIGGER_HIGH    1800

ArduCopter/landing_gear.pde

@@ -4,7 +4,7 @@
 static void landinggear_update(){
 
     // If landing gear control is active, run update function.
-    if (g.ch7_option == AUX_SWITCH_LANDING_GEAR || g.ch8_option == AUX_SWITCH_LANDING_GEAR){
+    if (g.ch7_option == AUX_SWITCH_LANDING_GEAR || g.ch8_option == AUX_SWITCH_LANDING_GEAR ){
 
         // last status (deployed or retracted) used to check for changes
         static bool last_deploy_status;

ArduCopter/motors.pde

@@ -406,7 +406,7 @@ static bool pre_arm_checks(bool display_failure)
         // ensure ch7 and ch8 have different functions
         if ((g.ch7_option != 0 || g.ch8_option != 0) && g.ch7_option == g.ch8_option) {
             if (display_failure) {
-                gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Ch7&Ch8 Option cannot be same"));
+                gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Duplicate Aux Switch Options"));
             }
             return false;
         }

ArduCopter/switches.pde

@@ -100,6 +100,46 @@ static void read_aux_switches()
         // invoke the appropriate function
         do_aux_switch_function(g.ch8_option, ap.CH8_flag);
     }
+
+    // check if Ch9 switch has changed position
+    switch_position = read_3pos_switch(g.rc_9.radio_in);
+    if (ap.CH9_flag != switch_position) {
+        // set the CH9 flag
+        ap.CH9_flag = switch_position;
+
+        // invoke the appropriate function
+        do_aux_switch_function(g.ch9_option, ap.CH9_flag);
+    }
+
+    // check if Ch10 switch has changed position
+    switch_position = read_3pos_switch(g.rc_10.radio_in);
+    if (ap.CH10_flag != switch_position) {
+        // set the CH10 flag
+        ap.CH10_flag = switch_position;
+
+        // invoke the appropriate function
+        do_aux_switch_function(g.ch10_option, ap.CH10_flag);
+    }
+
+    // check if Ch11 switch has changed position
+    switch_position = read_3pos_switch(g.rc_11.radio_in);
+    if (ap.CH11_flag != switch_position) {
+        // set the CH11 flag
+        ap.CH11_flag = switch_position;
+
+        // invoke the appropriate function
+        do_aux_switch_function(g.ch11_option, ap.CH11_flag);
+    }
+
+    // check if Ch12 switch has changed position
+    switch_position = read_3pos_switch(g.rc_12.radio_in);
+    if (ap.CH12_flag != switch_position) {
+        // set the CH12 flag
+        ap.CH12_flag = switch_position;
+
+        // invoke the appropriate function
+        do_aux_switch_function(g.ch12_option, ap.CH12_flag);
+    }
 }
 
 // init_aux_switches - invoke configured actions at start-up for aux function where it is safe to do so
@@ -108,9 +148,24 @@ static void init_aux_switches()
     // set the CH7 flag
     ap.CH7_flag = read_3pos_switch(g.rc_7.radio_in);
     ap.CH8_flag = read_3pos_switch(g.rc_8.radio_in);
+    ap.CH9_flag = read_3pos_switch(g.rc_9.radio_in);
+    ap.CH10_flag = read_3pos_switch(g.rc_10.radio_in);
+    ap.CH11_flag = read_3pos_switch(g.rc_11.radio_in);
+    ap.CH12_flag = read_3pos_switch(g.rc_12.radio_in);
+
+    init_aux_switch_function(g.ch7_option, ap.CH7_flag);
+    init_aux_switch_function(g.ch8_option, ap.CH8_flag);
+    init_aux_switch_function(g.ch9_option, ap.CH9_flag);
+    init_aux_switch_function(g.ch10_option, ap.CH10_flag);
+    init_aux_switch_function(g.ch11_option, ap.CH11_flag);
+    init_aux_switch_function(g.ch12_option, ap.CH12_flag);
+}
 
-    // init channel 7 options
-    switch(g.ch7_option) {
+// init_aux_switch_function - initialize aux functions
+static void init_aux_switch_function(int8_t ch_option, uint8_t ch_flag)
+{    
+    // init channel options
+    switch(ch_option) {
         case AUX_SWITCH_SIMPLE_MODE:
         case AUX_SWITCH_SONAR:
         case AUX_SWITCH_FENCE:
@@ -127,29 +182,7 @@ static void init_aux_switches()
         case AUX_SWITCH_ATTCON_ACCEL_LIM:
         case AUX_SWITCH_RELAY:
         case AUX_SWITCH_LANDING_GEAR:
-            do_aux_switch_function(g.ch7_option, ap.CH7_flag);
-            break;
-    }
-
-    // init channel 8 option
-    switch(g.ch8_option) {
-        case AUX_SWITCH_SIMPLE_MODE:
-        case AUX_SWITCH_SONAR:
-        case AUX_SWITCH_FENCE:
-        case AUX_SWITCH_RESETTOARMEDYAW:
-        case AUX_SWITCH_SUPERSIMPLE_MODE:
-        case AUX_SWITCH_ACRO_TRAINER:
-        case AUX_SWITCH_EPM:
-        case AUX_SWITCH_SPRAYER:
-        case AUX_SWITCH_PARACHUTE_ENABLE:
-        case AUX_SWITCH_PARACHUTE_3POS:     // we trust the vehicle will be disarmed so even if switch is in release position the chute will not release
-        case AUX_SWITCH_RETRACT_MOUNT:
-        case AUX_SWITCH_MISSIONRESET:
-        case AUX_SWITCH_ATTCON_FEEDFWD:
-        case AUX_SWITCH_ATTCON_ACCEL_LIM:
-        case AUX_SWITCH_RELAY:
-        case AUX_SWITCH_LANDING_GEAR:
-            do_aux_switch_function(g.ch8_option, ap.CH8_flag);
+            do_aux_switch_function(ch_option, ch_flag);
             break;
     }
 }