RC_Channel: move handling of auxillary switches into RC_Channel

RC_Channel: move handling of Rover's functions into RC_Channel

RC_Channel: move auxsw handling for camera to base RC_Channel

RC_Channel: add responsibility for servorelay events

RC_Channel: move mode switch handling to base class

libraries/RC_Channel/RC_Channel.cpp

@@ -27,6 +27,8 @@ extern const AP_HAL::HAL& hal;
 
 #include "RC_Channel.h"
 
+#include <GCS_MAVLink/GCS.h>
+
 uint32_t RC_Channel::configured_mask;
 
 const AP_Param::GroupInfo RC_Channel::var_info[] = {
@@ -72,6 +74,14 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("DZ",   5, RC_Channel, dead_zone, 0),
 
+    // @Param: OPTION
+    // @DisplayName: RC input option
+    // @Description: Function assigned to this RC channel
+    // @Values{Copter}: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 44:Winch Enable, 45:WinchControl, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3
+    // @Values{Rover}: 0:Do Nothing, 4:RTL, 7:Save WP, 9:Camera Trigger, 16:Auto, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 41:ArmDisarm, 42:SmartRTL, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow
+    // @User: Standard
+    AP_GROUPINFO_FRAME("OPTION",  6, RC_Channel, option, 0, AP_PARAM_FRAME_COPTER|AP_PARAM_FRAME_ROVER),
+
     AP_GROUPEND
 };
 
@@ -343,3 +353,220 @@ bool RC_Channel::min_max_configured() const
     }
     return false;
 }
+
+//
+// support for auxillary switches:
+//
+#define MODE_SWITCH_DEBOUNCE_TIME_MS  200
+
+uint32_t RC_Channel::old_switch_positions;
+RC_Channel::modeswitch_state_t RC_Channel::mode_switch_state;
+
+void RC_Channel::reset_mode_switch()
+{
+    mode_switch_state.last_position = -1;
+    mode_switch_state.debounced_position = -1;
+    read_mode_switch();
+}
+
+void RC_Channel::read_mode_switch()
+{
+    // calculate position of flight mode switch
+    const uint16_t pulsewidth = get_radio_in();
+    if (pulsewidth <= 900 || pulsewidth >= 2200) {
+        return;  // This is an error condition
+    }
+
+    modeswitch_pos_t position;
+    if      (pulsewidth < 1231) position = 0;
+    else if (pulsewidth < 1361) position = 1;
+    else if (pulsewidth < 1491) position = 2;
+    else if (pulsewidth < 1621) position = 3;
+    else if (pulsewidth < 1750) position = 4;
+    else position = 5;
+
+    if (mode_switch_state.last_position == position) {
+        // nothing to do
+        return;
+    }
+
+    const uint32_t tnow_ms = AP_HAL::millis();
+    if (position != mode_switch_state.debounced_position) {
+        mode_switch_state.debounced_position = position;
+        // store time that switch last moved
+        mode_switch_state.last_edge_time_ms = tnow_ms;
+        return;
+    }
+
+    if (tnow_ms - mode_switch_state.last_edge_time_ms < MODE_SWITCH_DEBOUNCE_TIME_MS) {
+        // still in debounce
+        return;
+    }
+
+    // set flight mode and simple mode setting
+    mode_switch_changed(position);
+
+    // set the last switch position.  This marks the
+    // transition as complete, even if the mode switch actually
+    // failed.  This prevents the vehicle changing modes
+    // unexpectedly some time later.
+    mode_switch_state.last_position = position;
+}
+
+//
+// support for auxillary switches:
+//
+
+// init_aux_switch_function - initialize aux functions
+void RC_Channel::init_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag)
+{
+    // init channel options
+    switch(ch_option) {
+    // the following functions to not need to be initialised:
+    case RELAY:
+    case RELAY2:
+    case RELAY3:
+    case RELAY4:
+    case CAMERA_TRIGGER:
+    case DO_NOTHING:
+        break;
+    default:
+        gcs().send_text(MAV_SEVERITY_WARNING, "Failed to initialise RC function (%u)", ch_option);
+        break;
+    }
+}
+
+void RC_Channel::read_aux()
+{
+    const aux_func_t _option = (aux_func_t)option.get();
+    if (_option == DO_NOTHING) {
+        // may wish to add special cases for other "AUXSW" things
+        // here e.g. RCMAP_ROLL etc once they become options
+        return;
+    }
+    const aux_switch_pos_t new_position = read_3pos_switch();
+    const aux_switch_pos_t old_position = old_switch_position();
+    if (new_position == old_position) {
+        debounce.count = 0;
+        return;
+    }
+    if (debounce.new_position != new_position) {
+        debounce.new_position = new_position;
+        debounce.count = 0;
+    }
+    // a value of 2 means we need 3 values in a row with the same
+    // value to activate
+    if (debounce.count++ < 2) {
+        return;
+    }
+
+    // debounced; undertake the action:
+    do_aux_function(_option, new_position);
+    set_old_switch_position(new_position);
+}
+
+
+void RC_Channel::do_aux_function_camera_trigger(const aux_switch_pos_t ch_flag)
+{
+    AP_Camera *camera = AP::camera();
+    if (camera == nullptr) {
+        return;
+    }
+    if (ch_flag == HIGH) {
+        camera->take_picture();
+    }
+}
+
+void RC_Channel::do_aux_function_relay(const uint8_t relay, bool val)
+{
+    AP_ServoRelayEvents *servorelayevents = AP::servorelayevents();
+    if (servorelayevents == nullptr) {
+        return;
+    }
+    servorelayevents->do_set_relay(relay, val);
+}
+
+void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag)
+{
+    switch(ch_option) {
+    case CAMERA_TRIGGER:
+        do_aux_function_camera_trigger(ch_flag);
+        break;
+
+    case RELAY:
+        do_aux_function_relay(0, ch_flag == HIGH);
+        break;
+    case RELAY2:
+        do_aux_function_relay(1, ch_flag == HIGH);
+        break;
+    case RELAY3:
+        do_aux_function_relay(2, ch_flag == HIGH);
+        break;
+    case RELAY4:
+        do_aux_function_relay(3, ch_flag == HIGH);
+        break;
+
+    default:
+        gcs().send_text(MAV_SEVERITY_INFO, "Invalid channel option (%u)", ch_option);
+        break;
+    }
+}
+
+void RC_Channel::init_aux()
+{
+    const aux_switch_pos_t position = read_3pos_switch();
+    set_old_switch_position(position);
+    init_aux_function((aux_func_t)option.get(), position);
+}
+
+// read_3pos_switch
+RC_Channel::aux_switch_pos_t RC_Channel::read_3pos_switch() const
+{
+    const uint16_t in = get_radio_in();
+    if (in < AUX_PWM_TRIGGER_LOW) return LOW;   // switch is in low position
+    if (in > AUX_PWM_TRIGGER_HIGH) return HIGH; // switch is in high position
+    return MIDDLE;                              // switch is in middle position
+}
+
+RC_Channel *RC_Channels::find_channel_for_option(const RC_Channel::aux_func_t option)
+{
+    for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
+        RC_Channel *c = channel(i);
+        if (c == nullptr) {
+            // odd?
+            continue;
+        }
+        if ((RC_Channel::aux_func_t)c->option.get() == option) {
+            return c;
+        }
+    }
+    return nullptr;
+}
+
+// duplicate_options_exist - returns true if any options are duplicated
+bool RC_Channels::duplicate_options_exist()
+{
+    uint8_t auxsw_option_counts[256] = {};
+    for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
+        const RC_Channel *c = channel(i);
+        if (c == nullptr) {
+            // odd?
+            continue;
+        }
+        const uint16_t option = c->option.get();
+        if (option > sizeof(auxsw_option_counts)) {
+            continue;
+        }
+        auxsw_option_counts[option]++;
+    }
+
+    for (uint16_t i=0; i<sizeof(auxsw_option_counts); i++) {
+        if (i == 0) { // MAGIC VALUE! This is AUXSW_DO_NOTHING
+            continue;
+        }
+        if (auxsw_option_counts[i] > 1) {
+            return true;
+        }
+    }
+   return false;
+}

libraries/RC_Channel/RC_Channel.h

@@ -100,6 +100,96 @@ public:
     
     bool min_max_configured() const;
     
+    AP_Int16    option; // e.g. activate EPM gripper / enable fence
+
+    // auxillary switch support:
+    void init_aux();
+    void read_aux();
+
+    // Aux Switch enumeration
+    enum aux_func {
+        DO_NOTHING =           0, // aux switch disabled
+        FLIP =                 2, // flip
+        SIMPLE_MODE =          3, // change to simple mode
+        RTL =                  4, // change to RTL flight mode
+        SAVE_TRIM =            5, // save current position as level
+        SAVE_WP =              7, // save mission waypoint or RTL if in auto mode
+        CAMERA_TRIGGER =       9, // trigger camera servo or relay
+        RANGEFINDER =         10, // allow enabling or disabling rangefinder in flight which helps avoid surface tracking when you are far above the ground
+        FENCE =               11, // allow enabling or disabling fence in flight
+        RESETTOARMEDYAW =     12, // UNUSED
+        SUPERSIMPLE_MODE =    13, // change to simple mode in middle, super simple at top
+        ACRO_TRAINER =        14, // low = disabled, middle = leveled, high = leveled and limited
+        SPRAYER =             15, // enable/disable the crop sprayer
+        AUTO =                16, // change to auto flight mode
+        AUTOTUNE =            17, // auto tune
+        LAND =                18, // change to LAND flight mode
+        GRIPPER =             19, // Operate cargo grippers low=off, middle=neutral, high=on
+        PARACHUTE_ENABLE  =   21, // Parachute enable/disable
+        PARACHUTE_RELEASE =   22, // Parachute release
+        PARACHUTE_3POS =      23, // Parachute disable, enable, release with 3 position switch
+        MISSION_RESET =       24, // Reset auto mission to start from first command
+        ATTCON_FEEDFWD =      25, // enable/disable the roll and pitch rate feed forward
+        ATTCON_ACCEL_LIM =    26, // enable/disable the roll, pitch and yaw accel limiting
+        RETRACT_MOUNT =       27, // Retract Mount
+        RELAY =               28, // Relay pin on/off (only supports first relay)
+        LANDING_GEAR =        29, // Landing gear controller
+        LOST_COPTER_SOUND =   30, // Play lost copter sound
+        MOTOR_ESTOP =         31, // Emergency Stop Switch
+        MOTOR_INTERLOCK =     32, // Motor On/Off switch
+        BRAKE =               33, // Brake flight mode
+        RELAY2 =              34, // Relay2 pin on/off (in Mission planner set RC8_OPTION  = 34)
+        RELAY3 =              35, // Relay3 pin on/off (in Mission planner set RC9_OPTION  = 35)
+        RELAY4 =              36, // Relay4 pin on/off (in Mission planner set RC10_OPTION = 36)
+        THROW =               37,  // change to THROW flight mode
+        AVOID_ADSB =          38,  // enable AP_Avoidance library
+        PRECISION_LOITER =    39,  // enable precision loiter
+        AVOID_PROXIMITY =     40,  // enable object avoidance using proximity sensors (ie. horizontal lidar)
+        ARMDISARM =           41,  // arm or disarm vehicle
+        SMART_RTL =           42, // change to SmartRTL flight mode
+        INVERTED  =           43,  // enable inverted flight
+        WINCH_ENABLE =        44, // winch enable/disable
+        WINCH_CONTROL =       45, // winch control
+        RC_OVERRIDE_ENABLE =  46, // enable RC Override
+        USER_FUNC1 =          47, // user function #1
+        USER_FUNC2 =          48, // user function #2
+        USER_FUNC3 =          49, // user function #3
+        LEARN_CRUISE =        50, // learn cruise throttle (Rover)
+        MANUAL       =        51, // manual mode
+        ACRO         =        52, // acro mode
+        STEERING     =        53, // steering mode
+        HOLD         =        54, // hold mode
+        GUIDED       =        55, // guided mode
+        LOITER       =        56, // loiter mode
+        FOLLOW       =        57, // follow mode
+        // if you add something here, make sure to update the documentation of the parameter in RC_Channel.cpp!
+        // also, if you add an option >255, you will need to fix duplicate_options_exist
+    };
+    typedef enum aux_func aux_func_t;
+
+protected:
+
+    // auxillary switch handling:
+    enum aux_switch_pos {
+        LOW,       // indicates auxiliary switch is in the low position (pwm <1200)
+        MIDDLE,    // indicates auxiliary switch is in the middle position (pwm >1200, <1800)
+        HIGH       // indicates auxiliary switch is in the high position (pwm >1800)
+    };
+
+    typedef enum aux_switch_pos aux_switch_pos_t;
+
+    virtual void init_aux_function(aux_func_t ch_option, aux_switch_pos_t);
+    virtual void do_aux_function(aux_func_t ch_option, aux_switch_pos_t);
+
+    void do_aux_function_relay(uint8_t relay, bool val);
+    void do_aux_function_camera_trigger(const aux_switch_pos_t ch_flag);
+
+    typedef int8_t modeswitch_pos_t;
+    virtual void mode_switch_changed(modeswitch_pos_t new_pos) {
+        // no action by default (e.g. Tracker, Sub, who do their own thing)
+    };
+
+
 private:
 
     // pwm is stored here
@@ -130,6 +220,44 @@ private:
 
     int16_t pwm_to_angle();
     int16_t pwm_to_angle_dz(uint16_t dead_zone);
+
+    // pwm value above which the option will be invoked:
+    static const uint16_t AUX_PWM_TRIGGER_HIGH = 1800;
+    // pwm value below which the option will be disabled:
+    static const uint16_t AUX_PWM_TRIGGER_LOW = 1200;
+    aux_switch_pos_t read_3pos_switch() const;
+
+    //Documentation of Aux Switch Flags:
+    // 0 is low or false, 1 is center or true, 2 is high
+    // pairs of bits in old_switch_positions give the old switch position for an RC input.
+    static uint32_t old_switch_positions;
+
+    aux_switch_pos_t old_switch_position() const {
+        return (aux_switch_pos_t)((old_switch_positions >> (ch_in*2)) & 0x3);
+    }
+    void set_old_switch_position(const RC_Channel::aux_switch_pos_t value) {
+        old_switch_positions &= ~(0x3 << (ch_in*2));
+        old_switch_positions |= (value << (ch_in*2));
+    }
+
+    // Structure used to detect changes in the flight mode control switch
+    // static since we should only ever have one mode switch!
+    typedef struct {
+        modeswitch_pos_t debounced_position; // currently used position
+        modeswitch_pos_t last_position;      // position in previous iteration
+        uint32_t last_edge_time_ms; // system time that position was last changed
+    } modeswitch_state_t;
+    static modeswitch_state_t mode_switch_state;
+
+    // de-bounce counters
+    typedef struct {
+        uint8_t count;
+        uint8_t new_position;
+    } debounce_state_t;
+    debounce_state_t debounce;
+
+    void reset_mode_switch();
+    void read_mode_switch();
 };
 
 
@@ -143,31 +271,56 @@ public:
     // constructor
     RC_Channels(void);
 
-    static const struct AP_Param::GroupInfo var_info[];
+    void init(void);
 
-    static RC_Channel *rc_channel(uint8_t chan) {
+    // get singleton instance
-        return (chan < NUM_RC_CHANNELS)?&channels[chan]:nullptr;
+    static RC_Channels *get_singleton() {
+        return _singleton;
     }
 
-    static uint16_t get_radio_in(const uint8_t chan); // returns the last read radio_in value from a chan, 0 if the channel is out of range
+    static const struct AP_Param::GroupInfo var_info[];
-    static uint8_t get_radio_in(uint16_t *chans, const uint8_t num_channels); // reads a block of chanel radio_in values starting from channel 0
+
+    virtual RC_Channel *channel(uint8_t chan) = 0;
+
+    uint8_t get_radio_in(uint16_t *chans, const uint8_t num_channels); // reads a block of chanel radio_in values starting from channel 0
                                                                               // returns the number of valid channels
 
     static uint8_t get_valid_channel_count(void);                      // returns the number of valid channels in the last read
     static int16_t get_receiver_rssi(void);                            // returns [0, 255] for receiver RSSI (0 is no link) if present, otherwise -1
-    static bool read_input(void);                                      // returns true if new input has been read in
+    bool read_input(void);                                      // returns true if new input has been read in
     static void clear_overrides(void);                                 // clears any active overrides
     static bool receiver_bind(const int dsmMode);                      // puts the reciever in bind mode if present, returns true if success
     static void set_override(const uint8_t chan, const int16_t value, const uint32_t timestamp_ms = 0); // set a channels override value
     static bool has_active_overrides(void);                            // returns true if there are overrides applied that are valid
 
+    class RC_Channel *find_channel_for_option(const RC_Channel::aux_func_t option);
+    bool duplicate_options_exist();
+
+    void init_aux_all();
+    virtual void read_aux_all();
+
+    // mode switch handling
+    void reset_mode_switch();
+    virtual void read_mode_switch();
+
+    virtual bool in_rc_failsafe() const = 0;
+
 private:
+    static RC_Channels *_singleton;
     // this static arrangement is to avoid static pointers in AP_Param tables
     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;
+
+    // flight_mode_channel_number must be overridden:
+    virtual int8_t flight_mode_channel_number() const = 0;
+    RC_Channel *flight_mode_channel();
+
 };
+
+RC_Channels &rc();

libraries/RC_Channel/RC_Channels.cpp

@@ -33,90 +33,6 @@ 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_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[0], "1_",  1, RC_Channels, RC_Channel),
-
-    // @Group: 2_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[1], "2_",  2, RC_Channels, RC_Channel),
-
-    // @Group: 3_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[2], "3_",  3, RC_Channels, RC_Channel),
-
-    // @Group: 4_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[3], "4_",  4, RC_Channels, RC_Channel),
-
-    // @Group: 5_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[4], "5_",  5, RC_Channels, RC_Channel),
-
-    // @Group: 6_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[5], "6_",  6, RC_Channels, RC_Channel),
-
-    // @Group: 7_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[6], "7_",  7, RC_Channels, RC_Channel),
-
-    // @Group: 8_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[7], "8_",  8, RC_Channels, RC_Channel),
-
-    // @Group: 9_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[8], "9_",  9, RC_Channels, RC_Channel),
-
-    // @Group: 10_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[9], "10_", 10, RC_Channels, RC_Channel),
-
-    // @Group: 11_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[10], "11_", 11, RC_Channels, RC_Channel),
-
-    // @Group: 12_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[11], "12_", 12, RC_Channels, RC_Channel),
-
-    // @Group: 13_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[12], "13_", 13, RC_Channels, RC_Channel),
-
-    // @Group: 14_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[13], "14_", 14, RC_Channels, RC_Channel),
-
-    // @Group: 15_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[14], "15_", 15, RC_Channels, RC_Channel),
-
-    // @Group: 16_
-    // @Path: RC_Channel.cpp
-    AP_SUBGROUPINFO(obj_channels[15], "16_", 16, RC_Channels, RC_Channel),
-
-    // @Param: _OVERRIDE_TIME
-    // @DisplayName: RC override timeout
-    // @Description: Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled
-    // @User: Advanced
-    // @Range: 0.0 120.0
-    // @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
-};
-
-
 /*
   channels group object constructor
  */
@@ -130,25 +46,27 @@ RC_Channels::RC_Channels(void)
     // set defaults from the parameter table
     AP_Param::setup_object_defaults(this, var_info);
 
-    // setup ch_in on channels
+    if (_singleton != nullptr) {
-    for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
+        AP_HAL::panic("RC_Channels must be singleton");
-        channels[i].ch_in = i;
     }
+    _singleton = this;
 }
 
-uint16_t RC_Channels::get_radio_in(const uint8_t chan)
+void RC_Channels::init(void)
 {
-    if (chan >= NUM_RC_CHANNELS) {
+    // setup ch_in on channels
-        return 0;
+    for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
+        channel(i)->ch_in = i;
     }
-    return channels[chan].get_radio_in();
+
+    init_aux_all();
 }
 
 uint8_t RC_Channels::get_radio_in(uint16_t *chans, const uint8_t num_channels)
 {
-    uint8_t read_channels = MIN(num_channels, NUM_RC_CHANNELS);
+    const uint8_t read_channels = MIN(num_channels, NUM_RC_CHANNELS);
     for (uint8_t i = 0; i < read_channels; i++) {
-        chans[i] = channels[i].get_radio_in();
+        chans[i] = channel(i)->get_radio_in();
     }
 
     // clear any excess channels we couldn't read
@@ -160,8 +78,7 @@ uint8_t RC_Channels::get_radio_in(uint16_t *chans, const uint8_t num_channels)
 }
 
 // update all the input channels
-bool
+bool RC_Channels::read_input(void)
-RC_Channels::read_input(void)
 {
     if (!hal.rcin->new_input() && !has_new_overrides) {
         return false;
@@ -171,7 +88,7 @@ RC_Channels::read_input(void)
 
     bool success = false;
     for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
-        success |= channels[i].update();
+        success |= channel(i)->update();
     }
 
     return success;
@@ -220,3 +137,80 @@ bool RC_Channels::receiver_bind(const int dsmMode)
 {
     return hal.rcin->rc_bind(dsmMode);
 }
+
+
+// support for auxillary switches:
+// read_aux_switches - checks aux switch positions and invokes configured actions
+void RC_Channels::read_aux_all()
+{
+    if (in_rc_failsafe()) {
+        // exit immediately during radio failsafe
+        return;
+    }
+
+    for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
+        RC_Channel *c = channel(i);
+        if (c == nullptr) {
+            continue;
+        }
+        c->read_aux();
+    }
+}
+
+void RC_Channels::init_aux_all()
+{
+    for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
+        RC_Channel *c = channel(i);
+        if (c == nullptr) {
+            continue;
+        }
+        c->init_aux();
+    }
+    reset_mode_switch();
+}
+
+//
+// Support for mode switches
+//
+RC_Channel *RC_Channels::flight_mode_channel()
+{
+    const int8_t num = flight_mode_channel_number();
+    if (num <= 0) {
+        return nullptr;
+    }
+    if (num >= NUM_RC_CHANNELS) {
+        return nullptr;
+    }
+    return channel(num-1);
+}
+
+void RC_Channels::reset_mode_switch()
+{
+    RC_Channel *c = flight_mode_channel();
+    if (c == nullptr) {
+        return;
+    }
+    c->reset_mode_switch();
+}
+
+void RC_Channels::read_mode_switch()
+{
+    if (in_rc_failsafe()) {
+        return;
+    }
+    RC_Channel *c = flight_mode_channel();
+    if (c == nullptr) {
+        return;
+    }
+    c->read_mode_switch();
+}
+
+
+// singleton instance
+RC_Channels *RC_Channels::_singleton;
+
+
+RC_Channels &rc()
+{
+    return *RC_Channels::get_singleton();
+}

libraries/RC_Channel/RC_Channels_VarInfo.h

@@ -0,0 +1,93 @@
+#pragma once
+
+/*
+  this header file is expected to be #included by Vehicle subclasses
+  of RC_Channels after defining RC_CHANNELS_SUBCLASS and
+  RC_CHANNEL_SUBCLASS - for example, Rover defines
+  RC_CHANNELS_SUBCLASS to be RC_Channels_Rover in APMrover2/RC_Channels.cpp, and then includes this header.
+
+  This scheme reduces code duplicate between the Vehicles, and avoids the chance of things getting out of sync.
+*/
+
+const AP_Param::GroupInfo RC_Channels::var_info[] = {
+    // @Group: 1_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[0], "1_",  1, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
+
+    // @Group: 2_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[1], "2_",  2, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
+
+    // @Group: 3_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[2], "3_",  3, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
+
+    // @Group: 4_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[3], "4_",  4, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
+
+    // @Group: 5_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[4], "5_",  5, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
+
+    // @Group: 6_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[5], "6_",  6, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
+
+    // @Group: 7_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[6], "7_",  7, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
+
+    // @Group: 8_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[7], "8_",  8, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
+
+    // @Group: 9_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[8], "9_",  9, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
+
+    // @Group: 10_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[9], "10_", 10, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
+
+    // @Group: 11_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[10], "11_", 11, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
+
+    // @Group: 12_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[11], "12_", 12, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
+
+    // @Group: 13_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[12], "13_", 13, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
+
+    // @Group: 14_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[13], "14_", 14, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
+
+    // @Group: 15_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[14], "15_", 15, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
+
+    // @Group: 16_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[15], "16_", 16, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
+
+    // @Param: _OVERRIDE_TIME
+    // @DisplayName: RC override timeout
+    // @Description: Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled
+    // @User: Advanced
+    // @Range: 0.0 120.0
+    // @Units: s
+    AP_GROUPINFO("_OVERRIDE_TIME", 32, RC_CHANNELS_SUBCLASS, _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_SUBCLASS, _options, 0),
+
+    AP_GROUPEND
+};