Copter: Ch7/8 option to retract mount

-Define AUX_SWITCH_RETRACT_MOUNT in defines.h
-Added 27=Retract Mount to Parameters.pde CH7 and CH8
-added int on CH7/8opt AUX_SWITCH_RETRACT_MOUNT
-Added Case #if Mount == ENABLE to set mount mode
made set_mode public in AP_Mount.h lib

ArduCopter/Parameters.pde

@@ -377,15 +377,13 @@ 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, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 20:EKF, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits
-    // @User: Standard
+    // @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, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 20:EKF, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount    // @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, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 20:EKF, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits
-    // @User: Standard
+    // @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, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 20:EKF, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount    // @User: Standard
     GSCALAR(ch8_option, "CH8_OPT",                  CH8_OPTION),
 
     // @Param: ARMING_CHECK

ArduCopter/control_modes.pde

@@ -112,6 +112,7 @@ static void init_aux_switches()
         case AUX_SWITCH_EKF:
         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:
@@ -132,6 +133,7 @@ static void init_aux_switches()
         case AUX_SWITCH_EKF:
         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:
@@ -425,6 +427,19 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
         // enable or disable accel limiting by restoring defaults
         attitude_control.accel_limiting(ch_flag == AUX_SWITCH_HIGH);
         break;
+        
+#if MOUNT == ENABLE
+    case AUX_SWITCH_RETRACT_MOUNT:
+        switch (ch_flag) {
+            case AUX_SWITCH_HIGH:
+                camera_mount.set_mode(MAV_MOUNT_MODE_RETRACT);
+                break;
+            case AUX_SWITCH_LOW:
+                camera_mount.set_mode_to_default();
+                break;
+        }
+        break;
+#endif
     }
 }
 

ArduCopter/defines.h

@@ -59,6 +59,7 @@
 #define AUX_SWITCH_MISSIONRESET     24      // Reset auto mission to start from first command
 #define AUX_SWITCH_ATTCON_FEEDFWD   25      // enable/disable the roll and pitch rate feed forward
 #define AUX_SWITCH_ATTCON_ACCEL_LIM 26      // enable/disable the roll, pitch and yaw accel limiting
+#define AUX_SWITCH_RETRACT_MOUNT    27      // Retract Mount
 
 // 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)