From 15362484bc06150db7710c72b65d5cc08141ce39 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Mon, 26 Apr 2021 23:57:28 +0100
Subject: [PATCH] AP_Scripting: add do_aux_function binding and example

---
 libraries/AP_Scripting/examples/RCIN_test.lua        | 12 ++++++++++++
 .../AP_Scripting/generator/description/bindings.desc |  2 ++
 2 files changed, 14 insertions(+)

diff --git a/libraries/AP_Scripting/examples/RCIN_test.lua b/libraries/AP_Scripting/examples/RCIN_test.lua
index 25e3ade693..0504704f64 100644
--- a/libraries/AP_Scripting/examples/RCIN_test.lua
+++ b/libraries/AP_Scripting/examples/RCIN_test.lua
@@ -2,6 +2,7 @@
 
 local scripting_rc_1 = rc:find_channel_for_option(300)
 local scripting_rc_2 = rc:find_channel_for_option(301)
+local flip_flop = 0
 
 function update()
   pwm1 = rc:get_pwm(1)
@@ -27,6 +28,17 @@ function update()
     end
   end
 
+  -- we can also call functions that are available to RC switches
+  -- 28 is Relay one
+  rc:run_aux_function(28, flip_flop)
+
+  if (flip_flop == 0) then
+    flip_flop = 2 -- switch high
+  else
+    flip_flop = 0 -- switch low
+  end
+
+
   return update, 1000 -- reschedules the loop
 end
 
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 7ed9468e35..110ad0f8e5 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -224,8 +224,10 @@ ap_object RC_Channel method norm_input_ignore_trim float
 
 include RC_Channel/RC_Channel.h
 singleton RC_Channels alias rc
+singleton RC_Channels scheduler-semaphore
 singleton RC_Channels method get_pwm boolean uint8_t 1 NUM_RC_CHANNELS uint16_t'Null
 singleton RC_Channels method find_channel_for_option RC_Channel RC_Channel::AUX_FUNC'enum 0 UINT16_MAX
+singleton RC_Channels method run_aux_function boolean RC_Channel::AUX_FUNC'enum 0 UINT16_MAX RC_Channel::AuxSwitchPos'enum RC_Channel::AuxSwitchPos::LOW RC_Channel::AuxSwitchPos::HIGH RC_Channel::AuxFuncTriggerSource::SCRIPTING'literal
 
 include AP_SerialManager/AP_SerialManager.h