AP_RCMapper: Add forward and strafe channel mappings for Sub

Yukong · Feb 21, 2017 · 2bacc2f · 2bacc2f
1 parent 1e8c1e8
commit 2bacc2f
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Showing 2 changed files with 26 additions and 0 deletions.
diff --git a/libraries/AP_RCMapper/AP_RCMapper.cpp b/libraries/AP_RCMapper/AP_RCMapper.cpp
@@ -38,6 +38,24 @@ const AP_Param::GroupInfo RCMapper::var_info[] = {
     // @RebootRequired: True
     AP_GROUPINFO("YAW",         3, RCMapper, _ch_yaw, 4),
 
+    // @Param: FORWARD
+    // @DisplayName: Forward channel
+    // @Description: Forward channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Forward is normally on channel 5, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.
+    // @Range: 1 8
+    // @Increment: 1
+    // @User: Advanced
+    // @RebootRequired: True
+    AP_GROUPINFO_FRAME("FORWARD",    4, RCMapper, _ch_forward, 6, AP_PARAM_FRAME_SUB),
+
+    // @Param: LATERAL
+    // @DisplayName: Lateral channel
+    // @Description: Lateral channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Lateral is normally on channel 6, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.
+    // @Range: 1 8
+    // @Increment: 1
+    // @User: Advanced
+    // @RebootRequired: True
+    AP_GROUPINFO_FRAME("LATERAL",    5, RCMapper, _ch_lateral, 7, AP_PARAM_FRAME_SUB),
+
     AP_GROUPEND
 };
 

diff --git a/libraries/AP_RCMapper/AP_RCMapper.h b/libraries/AP_RCMapper/AP_RCMapper.h
@@ -23,6 +23,12 @@ class RCMapper
     /// yaw - return input channel number for yaw / rudder input
     uint8_t yaw() const { return _ch_yaw; }
 
+    /// forward - return input channel number for forward input
+    uint8_t forward() const { return _ch_forward; }
+
+    /// lateral - return input channel number for lateral input
+    uint8_t lateral() const { return _ch_lateral; }
+
     static const struct AP_Param::GroupInfo var_info[];
 
 private:
@@ -31,4 +37,6 @@ class RCMapper
     AP_Int8 _ch_pitch;
     AP_Int8 _ch_yaw;
     AP_Int8 _ch_throttle;
+    AP_Int8 _ch_forward;
+    AP_Int8 _ch_lateral;
 };