From 9eda7f1b5ba626d56672c574827e34c4750f5b73 Mon Sep 17 00:00:00 2001
From: Jacob Walser <jwalser90@gmail.com>
Date: Tue, 7 Feb 2017 22:51:37 -0500
Subject: [PATCH] Sub: Add forward and strafe input channels

---
 ArduSub/Copter.h  | 2 ++
 ArduSub/radio.cpp | 6 ++++++
 2 files changed, 8 insertions(+)

diff --git a/ArduSub/Copter.h b/ArduSub/Copter.h
index eb15a6aa53..32460b1e62 100644
--- a/ArduSub/Copter.h
+++ b/ArduSub/Copter.h
@@ -162,6 +162,8 @@ private:
     RC_Channel *channel_pitch;
     RC_Channel *channel_throttle;
     RC_Channel *channel_yaw;
+    RC_Channel *channel_forward;
+    RC_Channel *channel_strafe;
 
     // Dataflash
     DataFlash_Class DataFlash{FIRMWARE_STRING};
diff --git a/ArduSub/radio.cpp b/ArduSub/radio.cpp
index faa517765c..9cffddad9d 100644
--- a/ArduSub/radio.cpp
+++ b/ArduSub/radio.cpp
@@ -27,16 +27,22 @@ void Copter::init_rc_in()
     channel_pitch    = RC_Channel::rc_channel(rcmap.pitch()-1);
     channel_throttle = RC_Channel::rc_channel(rcmap.throttle()-1);
     channel_yaw      = RC_Channel::rc_channel(rcmap.yaw()-1);
+    channel_forward  = RC_Channel::rc_channel(rcmap.forward()-1);
+    channel_strafe   = RC_Channel::rc_channel(rcmap.strafe()-1);
 
     // set rc channel ranges
     channel_roll->set_angle(ROLL_PITCH_INPUT_MAX);
     channel_pitch->set_angle(ROLL_PITCH_INPUT_MAX);
     channel_yaw->set_angle(4500);
     channel_throttle->set_range(g.throttle_min, THR_MAX);
+    channel_forward->set_angle(4500);
+    channel_strafe->set_angle(4500);
 
     channel_roll->set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
     channel_pitch->set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
     channel_yaw->set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
+    channel_forward->set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
+    channel_strafe->set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
 
     //set auxiliary servo ranges
     g.rc_5.set_range(0,1000);