From 401534ac89744b7554b4e2b988370cd8b0224e47 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 17 Jul 2021 18:11:28 +1000
Subject: [PATCH] Plane: added ONESHOT_MASK parameter

after discussion with Paul on servo latency
---
 ArduPlane/Parameters.cpp | 7 +++++++
 ArduPlane/Parameters.h   | 2 ++
 ArduPlane/system.cpp     | 6 +++++-
 3 files changed, 14 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index c2a8aa6260..4ea7d7efea 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1248,6 +1248,13 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Increment: 1
     // @User: Standard
     AP_GROUPINFO("MAN_EXPO_RUDDER", 31, ParametersG2, man_expo_rudder, 0),
+
+    // @Param: ONESHOT_MASK
+    // @DisplayName: Oneshot output mask
+    // @Description: Mask of output channels to use oneshot on
+    // @User: Advanced
+    // @Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15
+    AP_GROUPINFO("ONESHOT_MASK", 32, ParametersG2, oneshot_mask, 0),
     
     AP_GROUPEND
 };
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index 8b7fa63cf3..2220b664d4 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -573,6 +573,8 @@ public:
     AP_Int8         man_expo_roll;
     AP_Int8         man_expo_pitch;
     AP_Int8         man_expo_rudder;
+
+    AP_Int32        oneshot_mask;
 };
 
 extern const AP_Param::Info var_info[];
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 1585004193..6fd7404522 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -120,7 +120,11 @@ void Plane::init_ardupilot()
     // don't initialise aux rc output until after quadplane is setup as
     // that can change initial values of channels
     init_rc_out_aux();
-    
+
+    if (g2.oneshot_mask != 0) {
+        hal.rcout->set_output_mode(g2.oneshot_mask, AP_HAL::RCOutput::MODE_PWM_ONESHOT);
+    }
+
     // choose the nav controller
     set_nav_controller();