From 213eaa8db6e66d8b4f8d70058cd722753c99a1f9 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 25 Mar 2013 11:48:06 +0900
Subject: [PATCH] Copter: integrate draft RCMapper

---
 ArduCopter/ArduCopter.pde | 2 ++
 ArduCopter/Parameters.h   | 1 +
 ArduCopter/Parameters.pde | 4 ++++
 ArduCopter/radio.pde      | 8 ++++----
 4 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 2002bb5889..c10fe77279 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -103,6 +103,7 @@
 #include <memcheck.h>           // memory limit checker
 #include <SITL.h>               // software in the loop support
 #include <AP_Scheduler.h>       // main loop scheduler
+#include <AP_RCMapper.h>        // RC input mapping library
 
 // AP_HAL to Arduino compatibility layer
 #include "compat.h"
@@ -405,6 +406,7 @@ static int8_t control_mode = STABILIZE;
 // Used to maintain the state of the previous control switch position
 // This is set to -1 when we need to re-read the switch
 static uint8_t oldSwitchPosition;
+static RCMapper rcmap;
 
 // receiver RSSI
 static uint8_t receiver_rssi;
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 4919cb7a71..19326b4c2b 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -200,6 +200,7 @@ public:
         k_param_rc_9,
         k_param_rc_12,
         k_param_failsafe_gcs,           // 198
+        k_param_rcmap,
 
         //
         // 200: flight modes
diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index 2caf7be358..7f09d7e4ec 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -999,6 +999,10 @@ const AP_Param::Info var_info[] PROGMEM = {
     GOBJECT(motors, "MOT_",         AP_Motors),
 #endif
 
+    // @Group: RCMAP_
+    // @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
+    GOBJECT(rcmap, "RCMAP_",        RCMapper),
+
     AP_VAREND
 };
 
diff --git a/ArduCopter/radio.pde b/ArduCopter/radio.pde
index 78cf3c94fc..d3435f65cd 100644
--- a/ArduCopter/radio.pde
+++ b/ArduCopter/radio.pde
@@ -133,12 +133,12 @@ static void read_radio()
         ap_system.new_radio_frame = true;
         uint16_t periods[8];
         hal.rcin->read(periods,8);
-        g.rc_1.set_pwm(periods[0]);
-        g.rc_2.set_pwm(periods[1]);
+        g.rc_1.set_pwm(periods[rcmap.roll()]);
+        g.rc_2.set_pwm(periods[rcmap.pitch()]);
 
-        set_throttle_and_failsafe(periods[2]);
+        set_throttle_and_failsafe(periods[rcmap.throttle()]);
 
-        g.rc_4.set_pwm(periods[3]);
+        g.rc_4.set_pwm(periods[rcmap.yaw()]);
         g.rc_5.set_pwm(periods[4]);
         g.rc_6.set_pwm(periods[5]);
         g.rc_7.set_pwm(periods[6]);