From 73567e91d842158e2e20cfb61600ed2334a8379e Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 15 Mar 2024 09:58:43 +0900
Subject: [PATCH] RC_Channel: add mount LRF enable aux function

---
 libraries/RC_Channel/RC_Channel.cpp | 12 ++++++++++++
 libraries/RC_Channel/RC_Channel.h   |  1 +
 2 files changed, 13 insertions(+)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index ab47999c39..95a818a614 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -236,6 +236,7 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
     // @Values{Copter, Rover, Plane, Blimp}: 174:Camera Image Tracking
     // @Values{Copter, Rover, Plane, Blimp}: 175:Camera Lens
     // @Values{Plane}: 176:Quadplane Fwd Throttle Override enable
+    // @Values{Copter, Rover, Plane, Blimp}: 177:Mount LRF enable
     // @Values{Rover}: 201:Roll
     // @Values{Rover}: 202:Pitch
     // @Values{Rover}: 207:MainSail
@@ -665,6 +666,7 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const AuxSwitchPo
     case AUX_FUNC::LOWEHEISER_STARTER:
     case AUX_FUNC::MAG_CAL:
     case AUX_FUNC::CAMERA_IMAGE_TRACKING:
+    case AUX_FUNC::MOUNT_LRF_ENABLE:
         break;
 
     // not really aux functions:
@@ -771,6 +773,7 @@ const RC_Channel::LookupTable RC_Channel::lookuptable[] = {
     { AUX_FUNC::CAMERA_AUTO_FOCUS, "Camera Auto Focus"},
     { AUX_FUNC::CAMERA_IMAGE_TRACKING, "Camera Image Tracking"},
     { AUX_FUNC::CAMERA_LENS, "Camera Lens"},
+    { AUX_FUNC::MOUNT_LRF_ENABLE, "Mount LRF Enable"},
 };
 
 /* lookup the announcement for switch change */
@@ -1555,6 +1558,15 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
         mount->set_yaw_lock(ch_flag == AuxSwitchPos::HIGH);
         break;
     }
+
+    case AUX_FUNC::MOUNT_LRF_ENABLE: {
+        AP_Mount *mount = AP::mount();
+        if (mount == nullptr) {
+            break;
+        }
+        mount->set_rangefinder_enable(0, ch_flag == AuxSwitchPos::HIGH);
+        break;
+    }
 #endif
 
 #if HAL_LOGGING_ENABLED
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index 5216f2a4ac..2fb0553704 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -249,6 +249,7 @@ public:
         CAMERA_IMAGE_TRACKING = 174, // camera image tracking
         CAMERA_LENS =        175, // camera lens selection
         VFWD_THR_OVERRIDE =  176, // force enabled VTOL forward throttle method
+        MOUNT_LRF_ENABLE =   177,  // mount LRF enable/disable
 
 
         // inputs from 200 will eventually used to replace RCMAP