From 9ebb87816a4d5f13abf592908679f265203464df Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 20 Dec 2024 22:24:53 +0000
Subject: [PATCH] RC_Channel: add source index to aux function trigger

---
 libraries/RC_Channel/RC_Channel.cpp | 21 ++++++++++++---------
 libraries/RC_Channel/RC_Channel.h   | 15 +++++++--------
 2 files changed, 19 insertions(+), 17 deletions(-)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 4feb512739..0663f4d0d7 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -779,7 +779,7 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
 #endif
 #if AP_AHRS_ENABLED
     case AUX_FUNC::AHRS_TYPE:
-        run_aux_function(ch_option, ch_flag, AuxFuncTrigger::Source::INIT);
+        run_aux_function(ch_option, ch_flag, AuxFuncTrigger::Source::INIT, ch_in);
         break;
 #endif
     default:
@@ -977,7 +977,7 @@ bool RC_Channel::read_aux()
 #endif
 
     // debounced; undertake the action:
-    run_aux_function(_option, new_position, AuxFuncTrigger::Source::RC, get_radio_in());
+    run_aux_function(_option, new_position, AuxFuncTrigger::Source::RC, ch_in);
     return true;
 }
 
@@ -1402,7 +1402,7 @@ void RC_Channel::do_aux_function_retract_mount(const AuxSwitchPos ch_flag, const
 }
 #endif  // HAL_MOUNT_ENABLED
 
-bool RC_Channel::run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncTrigger::Source source, int16_t pwm)
+bool RC_Channel::run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncTrigger::Source source, uint16_t source_index)
 {
 #if AP_SCRIPTING_ENABLED
     rc().set_aux_cached(ch_option, pos);
@@ -1412,7 +1412,7 @@ bool RC_Channel::run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncT
         func: ch_option,
         pos: pos,
         source: source,
-        pwm: pwm,
+        source_index: source_index,
     };
 
     const bool ret = do_aux_function(trigger);
@@ -1427,17 +1427,19 @@ bool RC_Channel::run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncT
     // @FieldValueEnum: pos: RC_Channel::AuxSwitchPos
     // @Field: source: source of auxiliary function invocation
     // @FieldValueEnum: source: RC_Channel::AuxFuncTrigger::Source
+    // @Field: index: index within source. 0 indexed. Invalid for scripting.
     // @Field: result: true if function was successful
     AP::logger().Write(
         "AUXF",
-        "TimeUS,function,pos,source,result",
-        "s#---",
-        "F----",
-        "QHBBB",
+        "TimeUS,function,pos,source,index,result",
+        "s#----",
+        "F-----",
+        "QHBBHB",
         AP_HAL::micros64(),
         uint16_t(ch_option),
         uint8_t(pos),
         uint8_t(source),
+        source_index,
         uint8_t(ret)
     );
 #endif
@@ -1915,7 +1917,8 @@ void RC_Channel::init_aux()
     if (!read_3pos_switch(position)) {
         position = AuxSwitchPos::LOW;
     }
-    init_aux_function((AUX_FUNC)option.get(), position);
+
+    run_aux_function((AUX_FUNC)option.get(), position, AuxFuncTrigger::Source::INIT, ch_in);
 }
 
 // read_3pos_switch
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index 670810add8..f0c5560e2f 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -326,14 +326,14 @@ public:
             MISSION,
             SCRIPTING,
         } source;
-        // Trigger PWM, only valid for RC source
-        int16_t pwm;
+        // Index within source
+        uint16_t source_index;
     };
 
     AuxSwitchPos get_aux_switch_pos() const;
 
     // wrapper function around do_aux_function which allows us to log
-    bool run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncTrigger::Source source, int16_t pwm = 0);
+    bool run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncTrigger::Source source, uint16_t source_index);
 
 #if AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED
     const char *string_for_aux_function(AUX_FUNC function) const;
@@ -395,6 +395,8 @@ protected:
         // no action by default (e.g. Tracker, Sub, who do their own thing)
     };
 
+    // the input channel this corresponds to
+    uint8_t ch_in;
 
 private:
 
@@ -414,9 +416,6 @@ private:
     ControlType type_in;
     int16_t     high_in;
 
-    // the input channel this corresponds to
-    uint8_t     ch_in;
-
     // overrides
     uint16_t override_value;
     uint32_t last_override_time;
@@ -604,8 +603,8 @@ public:
 
     // method for other parts of the system (e.g. Button and mavlink)
     // to trigger auxiliary functions
-    bool run_aux_function(RC_Channel::AUX_FUNC ch_option, RC_Channel::AuxSwitchPos pos, RC_Channel::AuxFuncTrigger::Source source) {
-        return rc_channel(0)->run_aux_function(ch_option, pos, source);
+    bool run_aux_function(RC_Channel::AUX_FUNC ch_option, RC_Channel::AuxSwitchPos pos, RC_Channel::AuxFuncTrigger::Source source, uint16_t source_index) {
+        return rc_channel(0)->run_aux_function(ch_option, pos, source, source_index);
     }
 
     // check if flight mode channel is assigned RC option