From 1ba0901e51b08f5553e97d684d879b0799e14442 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 27 Apr 2018 12:26:38 +1000
Subject: [PATCH] Sub: minimal support for inheritting from RC_Channel

---
 ArduSub/ArduSub.cpp    |  2 +-
 ArduSub/Parameters.h   |  2 +-
 ArduSub/RC_Channel.cpp | 17 +++++++++++++++++
 ArduSub/RC_Channel.h   | 33 +++++++++++++++++++++++++++++++++
 ArduSub/Sub.h          |  3 ++-
 ArduSub/system.cpp     |  3 +++
 6 files changed, 57 insertions(+), 3 deletions(-)
 create mode 100644 ArduSub/RC_Channel.cpp
 create mode 100644 ArduSub/RC_Channel.h

diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index e3ef289262..c8fcb8427f 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -158,7 +158,7 @@ void Sub::fifty_hz_loop()
     failsafe_sensors_check();
 
     // Update rc input/output
-    RC_Channels::read_input();
+    rc().read_input();
     SRV_Channels::output_ch_all();
 }
 
diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
index f878d4d267..a17a302dd7 100644
--- a/ArduSub/Parameters.h
+++ b/ArduSub/Parameters.h
@@ -327,7 +327,7 @@ public:
 #endif
 
     // RC input channels
-    RC_Channels rc_channels;
+    RC_Channels_Sub rc_channels;
 
     // control over servo output ranges
     SRV_Channels servo_channels;
diff --git a/ArduSub/RC_Channel.cpp b/ArduSub/RC_Channel.cpp
new file mode 100644
index 0000000000..0c4cc58725
--- /dev/null
+++ b/ArduSub/RC_Channel.cpp
@@ -0,0 +1,17 @@
+#include "Sub.h"
+
+#include "RC_Channel.h"
+
+// defining these two macros and including the RC_Channels_VarInfo
+// header defines the parameter information common to all vehicle
+// types
+#define RC_CHANNELS_SUBCLASS RC_Channels_Sub
+#define RC_CHANNEL_SUBCLASS RC_Channel_Sub
+
+#include <RC_Channel/RC_Channels_VarInfo.h>
+
+// note that this callback is not presently used on Plane:
+int8_t RC_Channels_Sub::flight_mode_channel_number() const
+{
+    return 1; // sub does not have a flight mode channel
+}
diff --git a/ArduSub/RC_Channel.h b/ArduSub/RC_Channel.h
new file mode 100644
index 0000000000..52b33c9d53
--- /dev/null
+++ b/ArduSub/RC_Channel.h
@@ -0,0 +1,33 @@
+#pragma once
+
+#include <RC_Channel/RC_Channel.h>
+
+class RC_Channel_Sub : public RC_Channel
+{
+
+public:
+
+protected:
+
+private:
+
+};
+
+class RC_Channels_Sub : public RC_Channels
+{
+public:
+
+    RC_Channel_Sub obj_channels[NUM_RC_CHANNELS];
+    RC_Channel_Sub *channel(const uint8_t chan) override {
+        if (chan > NUM_RC_CHANNELS) {
+            return nullptr;
+        }
+        return &obj_channels[chan];
+    }
+
+protected:
+
+    // note that these callbacks are not presently used on Plane:
+    int8_t flight_mode_channel_number() const override;
+
+};
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 6c3674a220..f0cc5d643c 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -54,7 +54,6 @@
 #include <AC_PID/AC_PID_2D.h>          // PID library (2-axis)
 #include <AC_AttitudeControl/AC_AttitudeControl_Sub.h> // Attitude control library
 #include <AC_AttitudeControl/AC_PosControl_Sub.h>      // Position control library
-#include <RC_Channel/RC_Channel.h>         // RC Channel Library
 #include <AP_Motors/AP_Motors.h>          // AP Motors library
 #include <AP_RangeFinder/AP_RangeFinder.h>     // Range finder library
 #include <Filter/Filter.h>             // Filter library
@@ -82,6 +81,7 @@
 #include "defines.h"
 #include "config.h"
 #include "GCS_Mavlink.h"
+#include "RC_Channel.h"         // RC Channel Library
 #include "Parameters.h"
 #include "AP_Arming_Sub.h"
 #include "GCS_Sub.h"
@@ -130,6 +130,7 @@ public:
     friend class Parameters;
     friend class ParametersG2;
     friend class AP_Arming_Sub;
+    friend class RC_Channels_Sub;
 
     Sub(void);
 
diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index aecca33b85..10fe8f8dd1 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -87,6 +87,9 @@ void Sub::init_ardupilot()
 
     gcs().set_dataflash(&DataFlash);
 
+    // initialise rc channels including setting mode
+    rc().init();
+
     init_rc_in();               // sets up rc channels from radio
     init_rc_out();              // sets up motors and output to escs
     init_joystick();            // joystick initialization