From 16f0f5ecfdcd777d9db869f945ad731cf1ee6d4b Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Mon, 13 Jan 2025 17:49:39 +0000
Subject: [PATCH] RC_Channel: add get_stick_gesture_pos() for OSD menus

---
 libraries/RC_Channel/RC_Channel.cpp | 24 +++++++++++++++++++-----
 libraries/RC_Channel/RC_Channel.h   |  3 +++
 2 files changed, 22 insertions(+), 5 deletions(-)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 1f6440ec00..789f64cd06 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -1922,12 +1922,26 @@ RC_Channel::AuxSwitchPos RC_Channel::get_aux_switch_pos() const
     return position;
 }
 
-// return switch position value as LOW, MIDDLE, HIGH
-// if reading the switch fails then it returns LOW
-RC_Channel::AuxSwitchPos RC_Channels::get_channel_pos(const uint8_t rcmapchan) const
+// return stick gesture pos as LOW, MIDDLE, HIGH
+// this function uses different threshold values to RC_Chanel::get_aux_switch_pos()
+// to avoid glitching on the stick travel and also always honours channel reversal
+RC_Channel::AuxSwitchPos RC_Channel::get_stick_gesture_pos() const
 {
-    const RC_Channel* chan = rc().channel(rcmapchan-1);
-    return chan != nullptr ? chan->get_aux_switch_pos() : RC_Channel::AuxSwitchPos::LOW;
+    const uint16_t in = get_radio_in();
+    if (in <= 900 || in >= 2200) {
+        return RC_Channel::AuxSwitchPos::LOW;
+    }
+
+    // switch is reversed if 'reversed' option set on channel and switches reverse is allowed by RC_OPTIONS
+    bool switch_reversed = get_reverse();
+
+    if (in < RC_Channel::AUX_PWM_TRIGGER_LOW) {
+        return switch_reversed ? RC_Channel::AuxSwitchPos::HIGH : RC_Channel::AuxSwitchPos::LOW;
+    }
+    if (in > RC_Channel::AUX_PWM_TRIGGER_HIGH) {
+        return switch_reversed ? RC_Channel::AuxSwitchPos::LOW : RC_Channel::AuxSwitchPos::HIGH;
+    }
+    return RC_Channel::AuxSwitchPos::MIDDLE;
 }
 
 RC_Channel *RC_Channels::find_channel_for_option(const RC_Channel::AUX_FUNC option)
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index 120fec83fc..33c0677293 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -317,6 +317,9 @@ public:
 
     AuxSwitchPos get_aux_switch_pos() const;
 
+    // aux position for stick gestures used by RunCam menus etc
+    AuxSwitchPos get_stick_gesture_pos() const;
+
     // wrapper function around do_aux_function which allows us to log
     bool run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncTriggerSource source);