From aab787b08bee8ebd4800242994b5a7228d986e3b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 6 Jun 2019 09:39:14 +1000
Subject: [PATCH] RC_Channel: move mission reset in from Copter

---
 libraries/RC_Channel/RC_Channel.cpp | 16 ++++++++++++++++
 libraries/RC_Channel/RC_Channel.h   |  1 +
 2 files changed, 17 insertions(+)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 2b860c6106..0b4356834a 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -446,6 +446,7 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const aux_switch_
     switch(ch_option) {
     case AUX_FUNC::RC_OVERRIDE_ENABLE:
     case AUX_FUNC::AVOID_PROXIMITY:
+    case AUX_FUNC::MISSION_RESET:
         do_aux_function(ch_option, ch_flag);
         break;
     // the following functions do not need to be initialised:
@@ -633,6 +634,18 @@ void RC_Channel::do_aux_function_rc_override_enable(const aux_switch_pos_t ch_fl
     }
 }
 
+void RC_Channel::do_aux_function_mission_reset(const aux_switch_pos_t ch_flag)
+{
+    if (ch_flag != HIGH) {
+        return;
+    }
+    AP_Mission *mission = AP::mission();
+    if (mission == nullptr) {
+        return;
+    }
+    mission->reset();
+}
+
 void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag)
 {
     switch(ch_option) {
@@ -674,6 +687,9 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_po
     case AUX_FUNC::CLEAR_WP:
         do_aux_function_clear_wp(ch_flag);
         break;
+    case AUX_FUNC::MISSION_RESET:
+        do_aux_function_mission_reset(ch_flag);
+        break;
 
     case AUX_FUNC::SPRAYER:
         do_aux_function_sprayer(ch_flag);
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index 6dd3a6d2d5..5026e7a256 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -195,6 +195,7 @@ protected:
     void do_aux_function_clear_wp(const aux_switch_pos_t ch_flag);
     void do_aux_function_gripper(const aux_switch_pos_t ch_flag);
     void do_aux_function_lost_vehicle_sound(const aux_switch_pos_t ch_flag);
+    void do_aux_function_mission_reset(const aux_switch_pos_t ch_flag);
     void do_aux_function_rc_override_enable(const aux_switch_pos_t ch_flag);
     void do_aux_function_relay(uint8_t relay, bool val);
     void do_aux_function_sprayer(const aux_switch_pos_t ch_flag);