Tracker: Making servo type customizable

AntennaTracker/Parameters.cpp

@@ -119,12 +119,19 @@ const AP_Param::Info Tracker::var_info[] = {
     // @User: Standard
     GSCALAR(startup_delay,          "STARTUP_DELAY",   0),
 
-    // @Param: SERVO_TYPE
-    // @DisplayName: Type of servo system being used
-    // @Description: This allows selection of position servos or on/off servos
+    // @Param: SERVO_PITCH_TYPE
+    // @DisplayName: Type of servo system being used for pitch
+    // @Description: This allows selection of position servos or on/off servos for pitch
     // @Values: 0:Position,1:OnOff,2:ContinuousRotation
     // @User: Standard
-    GSCALAR(servo_type,          "SERVO_TYPE",   SERVO_TYPE_POSITION),
+    GSCALAR(servo_pitch_type,          "SERVO_PITCH_TYPE",   SERVO_TYPE_POSITION),
+
+    // @Param: SERVO_YAW_TYPE
+    // @DisplayName: Type of servo system being used for yaw
+    // @Description: This allows selection of position servos or on/off servos for yaw
+    // @Values: 0:Position,1:OnOff,2:ContinuousRotation
+    // @User: Standard
+    GSCALAR(servo_yaw_type,          "SERVO_YAW_TYPE",   SERVO_TYPE_POSITION),
 
     // @Param: ONOFF_YAW_RATE
     // @DisplayName: Yaw rate for on/off servos

AntennaTracker/Parameters.h

@@ -79,7 +79,7 @@ public:
         k_param_gps,
         k_param_scan_speed,
         k_param_proxy_mode_unused, // deprecated
-        k_param_servo_type,
+        k_param_servo_pitch_type,
         k_param_onoff_yaw_rate,
         k_param_onoff_pitch_rate,
         k_param_onoff_yaw_mintime,
@@ -98,6 +98,7 @@ public:
         // 150: Telemetry control
         //
         k_param_serial_manager,     // serial manager library
+        k_param_servo_yaw_type,
 
         //
         // 200 : Radio settings
@@ -133,7 +134,8 @@ public:
     AP_Float start_longitude;
 
     AP_Float startup_delay;
-    AP_Int8  servo_type;
+    AP_Int8  servo_pitch_type;
+    AP_Int8  servo_yaw_type;
     AP_Float onoff_yaw_rate;
     AP_Float onoff_pitch_rate;
     AP_Float onoff_yaw_mintime;

AntennaTracker/servos.cpp

@@ -28,7 +28,7 @@ void Tracker::init_servos()
  */
 void Tracker::update_pitch_servo(float pitch)
 {
-    switch ((enum ServoType)g.servo_type.get()) {
+    switch ((enum ServoType)g.servo_pitch_type.get()) {
     case SERVO_TYPE_ONOFF:
         update_pitch_onoff_servo(pitch);
         break;
@@ -154,7 +154,7 @@ void Tracker::update_pitch_cr_servo(float pitch)
  */
 void Tracker::update_yaw_servo(float yaw)
 {
-    switch ((enum ServoType)g.servo_type.get()) {
+	switch ((enum ServoType)g.servo_yaw_type.get()) {
     case SERVO_TYPE_ONOFF:
         update_yaw_onoff_servo(yaw);
         break;