From 4c9bc30f58102cbc2df4992c9dcd233e9876e30c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 3 Jun 2013 16:42:38 +1000
Subject: [PATCH] Plane: make it possible to change control channel ordering
 without reboot

this makes configuration a bit easier
---
 ArduPlane/ArduPlane.pde |  3 +++
 ArduPlane/radio.pde     | 16 ++++++++++++++++
 ArduPlane/system.pde    |  6 +-----
 3 files changed, 20 insertions(+), 5 deletions(-)

diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index ee7ac3d36b..f1ea6c2091 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -958,6 +958,9 @@ static void one_second_loop()
 
     // send a heartbeat
     gcs_send_message(MSG_HEARTBEAT);
+
+    // make it possible to change control channel ordering at runtime
+    set_control_channels();
 }
 
 static void update_GPS(void)
diff --git a/ArduPlane/radio.pde b/ArduPlane/radio.pde
index 1d8bb4835f..48b2a17c31 100644
--- a/ArduPlane/radio.pde
+++ b/ArduPlane/radio.pde
@@ -4,7 +4,20 @@
 // ----------------------------------------------------------------------------
 static uint8_t failsafeCounter = 0;                // we wait a second to take over the throttle and send the plane circling
 
+/*
+  allow for runtime change of control channel ordering
+ */
+static void set_control_channels(void)
+{
+    channel_roll     = RC_Channel::rc_channel(rcmap.roll()-1);
+    channel_pitch    = RC_Channel::rc_channel(rcmap.pitch()-1);
+    channel_throttle = RC_Channel::rc_channel(rcmap.throttle()-1);
+    channel_rudder   = RC_Channel::rc_channel(rcmap.yaw()-1);
+}
 
+/*
+  initialise RC input channels
+ */
 static void init_rc_in()
 {
     // set rc channel ranges
@@ -34,6 +47,9 @@ static void init_rc_in()
 #endif
 }
 
+/*
+  initialise RC output channels
+ */
 static void init_rc_out()
 {
     channel_roll->enable_out();
diff --git a/ArduPlane/system.pde b/ArduPlane/system.pde
index b520adb538..f8146c4d4a 100644
--- a/ArduPlane/system.pde
+++ b/ArduPlane/system.pde
@@ -110,11 +110,7 @@ static void init_ardupilot()
     //
     load_parameters();
 
-    // setup channel mappings. Changing these requires a reboot
-    channel_roll     = RC_Channel::rc_channel(rcmap.roll()-1);
-    channel_pitch    = RC_Channel::rc_channel(rcmap.pitch()-1);
-    channel_throttle = RC_Channel::rc_channel(rcmap.throttle()-1);
-    channel_rudder   = RC_Channel::rc_channel(rcmap.yaw()-1);
+    set_control_channels();
 
     // reset the uartA baud rate after parameter load
     hal.uartA->begin(map_baudrate(g.serial0_baud, SERIAL0_BAUD));