These changes were meant to be inside commit a14c06adc06b. I'm sorry but reverting stuff is not that easy

ArduPlane/APM_Config.h

@@ -1,5 +1,4 @@
- 
- // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
 // This file is just a placeholder for your configuration file.  If you wish to change any of the setup parameters from
 // their default values, place the appropriate #define statements here.

ArduPlane/APM_Config.h.reference

@@ -304,19 +304,6 @@
 //#define FLIGHT_MODE_6         MANUAL
 //
 
-//////////////////////////////////////////////////////////////////////////////
-// RC_5_FUNCT								OPTIONAL
-// RC_6_FUNCT								OPTIONAL
-// RC_7_FUNCT								OPTIONAL
-// RC_8_FUNCT								OPTIONAL
-//
-// The channel 5 through 8 function assignments allow configuration of those 
-// channels for use with differential ailerons, flaps, flaperons, or camera
-// or intrument mounts
-//
-//#define RC_5_FUNCT   RC_5_FUNCT_NONE		
-//etc.
-
 //////////////////////////////////////////////////////////////////////////////
 // For automatic flap operation based on speed setpoint.  If the speed setpoint is above flap_1_speed
 // then the flap position shall be 0%.  If the speed setpoint is between flap_1_speed and flap_2_speed

ArduPlane/ArduPlane.pde

@@ -415,6 +415,7 @@ static unsigned long 	nav_loopTimer;				// used to track the elapsed time for GP
 static unsigned long 	dTnav;						// Delta Time in milliseconds for navigation computations
 static float 			load;						// % MCU cycles used
 
+RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions];	// the aux. servo ch. assigned to each function
 
 ////////////////////////////////////////////////////////////////////////////////
 // Top-level logic
@@ -710,6 +711,8 @@ static void slow_loop()
 			// ----------------------------------
 			update_servo_switches();
 
+			update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
+
 			break;
 
 		case 2:

ArduPlane/Parameters.h

@@ -17,7 +17,7 @@ public:
     // The increment will prevent old parameters from being used incorrectly
     // by newer code.
     //
-    static const uint16_t k_format_version = 11;
+    static const uint16_t k_format_version = 12;
 	
 	// The parameter software_type is set up solely for ground station use
 	// and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
@@ -134,11 +134,6 @@ public:
         k_param_long_fs_action,
 		k_param_gcs_heartbeat_fs_enabled,
         k_param_throttle_slewrate,
-        
-        k_param_rc_5_funct,
-        k_param_rc_6_funct,
-        k_param_rc_7_funct,
-        k_param_rc_8_funct,
 
         //
         // 200: Feed-forward gains
@@ -327,14 +322,10 @@ public:
     RC_Channel  channel_pitch;
     RC_Channel  channel_throttle;
     RC_Channel  channel_rudder;
-	RC_Channel	rc_5;
-	RC_Channel	rc_6;
-	RC_Channel	rc_7;
-	RC_Channel	rc_8;
-	AP_Int8		rc_5_funct;
-	AP_Int8		rc_6_funct;
-	AP_Int8		rc_7_funct;
-	AP_Int8		rc_8_funct;
+	RC_Channel_aux	rc_5;
+	RC_Channel_aux	rc_6;
+	RC_Channel_aux	rc_7;
+	RC_Channel_aux	rc_8;
 
     // PID controllers
     //
@@ -428,10 +419,6 @@ public:
         inverted_flight_ch      (0,                         k_param_inverted_flight_ch,		PSTR("INVERTEDFLT_CH")),
         sonar_enabled			(SONAR_ENABLED,				k_param_sonar_enabled,			PSTR("SONAR_ENABLE")),
         airspeed_enabled		(AIRSPEED_SENSOR,			k_param_airspeed_enabled,		PSTR("ARSPD_ENABLE")),
-        rc_5_funct				(RC_5_FUNCT,				k_param_rc_5_funct,				PSTR("RC5_FUNCT")),
-        rc_6_funct				(RC_6_FUNCT,				k_param_rc_6_funct,				PSTR("RC6_FUNCT")),
-        rc_7_funct				(RC_7_FUNCT,				k_param_rc_7_funct,				PSTR("RC7_FUNCT")),
-        rc_8_funct				(RC_8_FUNCT,				k_param_rc_8_funct,				PSTR("RC8_FUNCT")),
 
 	// Note - total parameter name length must be less than 14 characters for MAVLink compatibility!
 

ArduPlane/config.h

@@ -226,19 +226,6 @@
 # define CH8_MAX	2000
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-#ifndef RC_5_FUNCT
-# define RC_5_FUNCT	RC_5_FUNCT_NONE
-#endif
-#ifndef RC_6_FUNCT
-# define RC_6_FUNCT	RC_6_FUNCT_NONE
-#endif
-#ifndef RC_7_FUNCT
-# define RC_7_FUNCT	RC_7_FUNCT_NONE
-#endif
-#ifndef RC_8_FUNCT
-# define RC_8_FUNCT	RC_8_FUNCT_NONE
-#endif
 
 #ifndef FLAP_1_PERCENT
 # define FLAP_1_PERCENT 0

ArduPlane/defines.h

@@ -41,39 +41,12 @@
 #define GPS_PROTOCOL_MTK16	6
 #define GPS_PROTOCOL_AUTO	7
 
-// Radio channels
-// Note channels are from 0!
-//
-// XXX these should be CH_n defines from RC.h at some point.
-#define CH_1 0
-#define CH_2 1
-#define CH_3 2
-#define CH_4 3
-#define CH_5 4
-#define CH_6 5
-#define CH_7 6
-#define CH_8 7
-
 #define CH_ROLL CH_1
 #define CH_PITCH CH_2
 #define CH_THROTTLE CH_3
 #define CH_RUDDER CH_4
 #define CH_YAW CH_4
 
-#define RC_5_FUNCT_NONE				0
-#define RC_5_FUNCT_AILERON			1
-#define RC_5_FUNCT_FLAP_AUTO		2
-#define RC_5_FUNCT_FLAPERON			3
-
-#define RC_6_FUNCT_NONE				0
-#define RC_6_FUNCT_AILERON			1
-#define RC_6_FUNCT_FLAP_AUTO		2
-#define RC_6_FUNCT_FLAPERON			3
-
-#define RC_7_FUNCT_NONE				0
-
-#define RC_8_FUNCT_NONE				0
-
 // HIL enumerations
 #define HIL_PROTOCOL_XPLANE			1
 #define HIL_PROTOCOL_MAVLINK		2

libraries/APM_RC/APM_RC.h

@@ -5,6 +5,17 @@
 #define MIN_PULSEWIDTH 900
 #define MAX_PULSEWIDTH 2100
 
+// Radio channels
+// Note channels are from 0!
+#define CH_1 0
+#define CH_2 1
+#define CH_3 2
+#define CH_4 3
+#define CH_5 4
+#define CH_6 5
+#define CH_7 6
+#define CH_8 7
+
 #include <inttypes.h>
 
 class APM_RC_Class

libraries/AP_DCM/AP_DCM.h

@@ -1,7 +1,7 @@
 #ifndef AP_DCM_h
 #define AP_DCM_h
 
-// teporarily include all other classes here
+// temporarily include all other classes here
 // since this naming is a bit off from the
 // convention and the AP_DCM should be the top
 // header file

libraries/RC_Channel/RC_Channel.cpp

@@ -120,7 +120,7 @@ RC_Channel::calc_pwm(void)
 {
 	if(_type == RC_CHANNEL_RANGE){
 		pwm_out 	= range_to_pwm();
-		radio_out 	= pwm_out + radio_min;
+		radio_out 	= (_reverse >=0 ? pwm_out + radio_min : radio_max - pwm_out);
 
 	}else if(_type == RC_CHANNEL_ANGLE_RAW){
 		pwm_out 	= (float)servo_out * .1;

libraries/RC_Channel/RC_Channel.h

@@ -7,12 +7,11 @@
 #define RC_Channel_h
 
 #include <AP_Common.h>
-#include <stdint.h>
 
 /// @class	RC_Channel
 /// @brief	Object managing one RC channel
 class RC_Channel{
-  private:
+  protected:
 	AP_Var_group    _group;		// must be before all vars to keep ctor init order correct
 
   public:
@@ -103,8 +102,7 @@ class RC_Channel{
 	int16_t 	_low;
 };
 
-#endif
-
-
-
+// This is ugly, but it fixes compilation on arduino
+#include "RC_Channel_aux.h"
 
+#endif