From 60f19bbf02a74a9092de49bca94e7b82286fb20e Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Tue, 24 Jul 2018 18:50:01 -0700
Subject: [PATCH] RC_Channel: Allow an input to be ignored

---
 libraries/RC_Channel/RC_Channel.cpp  | 20 +++++++++-----------
 libraries/RC_Channel/RC_Channel.h    | 12 ++++++++----
 libraries/RC_Channel/RC_Channels.cpp | 18 +++++++++++++-----
 3 files changed, 30 insertions(+), 20 deletions(-)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 974b9df882..e4a37d06f9 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -108,14 +108,16 @@ RC_Channel::get_reverse(void) const
     return bool(reversed.get());
 }
 
-// read input from APM_RC - create a control_in value
-void
-RC_Channel::set_pwm(int16_t pwm)
+// read input from hal.rcin or overrides
+bool
+RC_Channel::update(void)
 {
-    if (has_override()) {
+    if (has_override() && !(*RC_Channels::options & RC_IGNORE_OVERRIDES)) {
         radio_in = override_value;
+    } else if (!(*RC_Channels::options & RC_IGNORE_RECEIVER)) {
+        radio_in = hal.rcin->read(ch_in);
     } else {
-        radio_in = pwm;
+        return false;
     }
 
     if (type_in == RC_CHANNEL_TYPE_RANGE) {
@@ -124,6 +126,8 @@ RC_Channel::set_pwm(int16_t pwm)
         //RC_CHANNEL_TYPE_ANGLE
         control_in = pwm_to_angle();
     }
+
+    return true;
 }
 
 // recompute control values with no deadzone
@@ -299,12 +303,6 @@ RC_Channel::percent_input()
     return ret;
 }
 
-uint16_t
-RC_Channel::read() const
-{
-    return hal.rcin->read(ch_in);
-}
-
 /*
   Return true if the channel is at trim and within the DZ
 */
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index 088b593a7d..202029d591 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -26,6 +26,11 @@ public:
         RC_CHANNEL_LIMIT_MAX
     };
 
+    enum InputIgnore {
+        RC_IGNORE_RECEIVER  = (1 << 0), // RC reciever modules
+        RC_IGNORE_OVERRIDES = (1 << 1), // MAVLink overrides
+    };
+
     // setup the control preferences
     void        set_range(uint16_t high);
     void        set_angle(uint16_t angle);
@@ -37,7 +42,7 @@ public:
     int16_t     get_control_mid() const;
 
     // read input from hal.rcin - create a control_in value
-    void        set_pwm(int16_t pwm);
+    bool        update(void);
     void        recompute_pwm_no_deadzone();
 
     // calculate an angle given dead_zone and trim. This is used by the quadplane code
@@ -60,9 +65,6 @@ public:
     int16_t     pwm_to_range();
     int16_t     pwm_to_range_dz(uint16_t dead_zone);
 
-    // read the input value from hal.rcin for this channel
-    uint16_t    read() const;
-
     static const struct AP_Param::GroupInfo var_info[];
 
     // return true if input is within deadzone of trim
@@ -164,6 +166,8 @@ private:
     static RC_Channel *channels;
     static bool has_new_overrides;
     static AP_Float *override_timeout;
+    static AP_Int32 *options;
     RC_Channel obj_channels[NUM_RC_CHANNELS];
     AP_Float _override_timeout;
+    AP_Int32  _options;
 };
diff --git a/libraries/RC_Channel/RC_Channels.cpp b/libraries/RC_Channel/RC_Channels.cpp
index dc616b33f2..5aa4c03830 100644
--- a/libraries/RC_Channel/RC_Channels.cpp
+++ b/libraries/RC_Channel/RC_Channels.cpp
@@ -31,6 +31,7 @@ extern const AP_HAL::HAL& hal;
 RC_Channel *RC_Channels::channels;
 bool RC_Channels::has_new_overrides;
 AP_Float *RC_Channels::override_timeout;
+AP_Int32 *RC_Channels::options;
 
 const AP_Param::GroupInfo RC_Channels::var_info[] = {
     // @Group: 1_
@@ -105,6 +106,13 @@ const AP_Param::GroupInfo RC_Channels::var_info[] = {
     // @Units: s
     AP_GROUPINFO("_OVERRIDE_TIME", 32, RC_Channels, _override_timeout, 3.0),
     
+    // @Param: _OPTIONS
+    // @DisplayName: RC options
+    // @Description: RC input options
+    // @User: Advanced
+    // @Bitmask: 0:Ignore RC Reciever, 1:Ignore MAVLink Overrides
+    AP_GROUPINFO("_OPTIONS", 33, RC_Channels, _options, 0),
+
     AP_GROUPEND
 };
 
@@ -117,6 +125,7 @@ RC_Channels::RC_Channels(void)
     channels = obj_channels;
 
     override_timeout = &_override_timeout;
+    options = &_options;
     
     // set defaults from the parameter table
     AP_Param::setup_object_defaults(this, var_info);
@@ -150,9 +159,7 @@ uint8_t RC_Channels::get_radio_in(uint16_t *chans, const uint8_t num_channels)
     return read_channels;
 }
 
-/*
-  call read() and set_pwm() on all channels if there is new data
- */
+// update all the input channels
 bool
 RC_Channels::read_input(void)
 {
@@ -162,11 +169,12 @@ RC_Channels::read_input(void)
 
     has_new_overrides = false;
 
+    bool success = false;
     for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
-        channels[i].set_pwm(channels[i].read());
+        success |= channels[i].update();
     }
 
-    return true;
+    return success;
 }
 
 uint8_t RC_Channels::get_valid_channel_count(void)