From 9ce02bc50414bf864b9fbd9870e90be7ab781246 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 27 Apr 2018 11:01:37 +1000
Subject: [PATCH] Plane: minimal support for inheritting from RC_Channel

---
 ArduPlane/Parameters.cpp |  2 +-
 ArduPlane/Parameters.h   |  2 +-
 ArduPlane/Plane.h        |  3 ++-
 ArduPlane/RC_Channel.cpp | 17 +++++++++++++++++
 ArduPlane/RC_Channel.h   | 33 +++++++++++++++++++++++++++++++++
 ArduPlane/radio.cpp      |  2 +-
 ArduPlane/system.cpp     |  3 +++
 7 files changed, 58 insertions(+), 4 deletions(-)
 create mode 100644 ArduPlane/RC_Channel.cpp
 create mode 100644 ArduPlane/RC_Channel.h

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index c532aa6c8c..853a889899 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1138,7 +1138,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
 
     // @Group: RC
     // @Path: ../libraries/RC_Channel/RC_Channels.cpp
-    AP_SUBGROUPINFO(rc_channels, "RC", 7, ParametersG2, RC_Channels),
+    AP_SUBGROUPINFO(rc_channels, "RC", 7, ParametersG2, RC_Channels_Plane),
     
 #if SOARING_ENABLED == ENABLED
     // @Group: SOAR_
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index 805e117e7e..867bcd0e5e 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -518,7 +518,7 @@ public:
     AP_ICEngine ice_control;
 
     // RC input channels
-    RC_Channels rc_channels;
+    RC_Channels_Plane rc_channels;
     
     // control over servo output ranges
     SRV_Channels servo_channels;
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index ad642363cb..ee347d31f9 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -40,7 +40,6 @@
 #include <AP_InertialSensor/AP_InertialSensor.h> // Inertial Sensor Library
 #include <AP_AccelCal/AP_AccelCal.h>                // interface and maths for accelerometer calibration
 #include <AP_AHRS/AP_AHRS.h>         // ArduPilot Mega DCM Library
-#include <RC_Channel/RC_Channel.h>     // RC Channel Library
 #include <SRV_Channel/SRV_Channel.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>     // Range finder library
 #include <Filter/Filter.h>                     // Filter library
@@ -109,6 +108,7 @@
 // Local modules
 #include "defines.h"
 
+#include "RC_Channel.h"     // RC Channel Library
 #include "Parameters.h"
 #include "avoidance_adsb.h"
 #include "AP_Arming.h"
@@ -150,6 +150,7 @@ public:
     friend class AP_AdvancedFailsafe_Plane;
     friend class AP_Avoidance_Plane;
     friend class GCS_Plane;
+    friend class RC_Channels_Plane;
 
     Plane(void);
 
diff --git a/ArduPlane/RC_Channel.cpp b/ArduPlane/RC_Channel.cpp
new file mode 100644
index 0000000000..60fc33003b
--- /dev/null
+++ b/ArduPlane/RC_Channel.cpp
@@ -0,0 +1,17 @@
+#include "Plane.h"
+
+#include "RC_Channel.h"
+
+// defining these two macros and including the RC_Channels_VarInfo
+// header defines the parameter information common to all vehicle
+// types
+#define RC_CHANNELS_SUBCLASS RC_Channels_Plane
+#define RC_CHANNEL_SUBCLASS RC_Channel_Plane
+
+#include <RC_Channel/RC_Channels_VarInfo.h>
+
+// note that this callback is not presently used on Plane:
+int8_t RC_Channels_Plane::flight_mode_channel_number() const
+{
+    return plane.g.flight_mode_channel.get();
+}
diff --git a/ArduPlane/RC_Channel.h b/ArduPlane/RC_Channel.h
new file mode 100644
index 0000000000..1966d51268
--- /dev/null
+++ b/ArduPlane/RC_Channel.h
@@ -0,0 +1,33 @@
+#pragma once
+
+#include <RC_Channel/RC_Channel.h>
+
+class RC_Channel_Plane : public RC_Channel
+{
+
+public:
+
+protected:
+
+private:
+
+};
+
+class RC_Channels_Plane : public RC_Channels
+{
+public:
+
+    RC_Channel_Plane obj_channels[NUM_RC_CHANNELS];
+    RC_Channel_Plane *channel(const uint8_t chan) override {
+        if (chan > NUM_RC_CHANNELS) {
+            return nullptr;
+        }
+        return &obj_channels[chan];
+    }
+
+protected:
+
+    // note that these callbacks are not presently used on Plane:
+    int8_t flight_mode_channel_number() const override;
+
+};
diff --git a/ArduPlane/radio.cpp b/ArduPlane/radio.cpp
index 7eb977cd03..ab00b0665e 100644
--- a/ArduPlane/radio.cpp
+++ b/ArduPlane/radio.cpp
@@ -174,7 +174,7 @@ void Plane::rudder_arm_disarm_check()
 
 void Plane::read_radio()
 {
-    if (!RC_Channels::read_input()) {
+    if (!rc().read_input()) {
         control_failsafe();
         return;
     }
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 10b075b73f..a23d40fbed 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -84,6 +84,9 @@ void Plane::init_ardupilot()
     BoardConfig_CAN.init();
 #endif
 
+    // initialise rc channels including setting mode
+    rc().init();
+
     relay.init();
 
     // initialise notify system