From b4a779aec367186431fc6f13dcccb05aebded1bc Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 1 Dec 2017 12:15:50 +0900
Subject: [PATCH] Rover: add arm/disarm to ch7 switch

---
 APMrover2/Parameters.cpp    | 2 +-
 APMrover2/control_modes.cpp | 9 +++++++++
 APMrover2/defines.h         | 3 ++-
 3 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/APMrover2/Parameters.cpp b/APMrover2/Parameters.cpp
index 8f366d3c04..517a0ec97d 100644
--- a/APMrover2/Parameters.cpp
+++ b/APMrover2/Parameters.cpp
@@ -129,7 +129,7 @@ const AP_Param::Info Rover::var_info[] = {
     // @Param: CH7_OPTION
     // @DisplayName: Channel 7 option
     // @Description: What to do use channel 7 for
-    // @Values: 0:Nothing,1:SaveWaypoint,2:LearnCruiseSpeed
+    // @Values: 0:Nothing,1:SaveWaypoint,2:LearnCruiseSpeed,3:ArmDisarm
     // @User: Standard
     GSCALAR(ch7_option,             "CH7_OPTION",          CH7_OPTION),
 
diff --git a/APMrover2/control_modes.cpp b/APMrover2/control_modes.cpp
index ba87692909..9fcf8cd208 100644
--- a/APMrover2/control_modes.cpp
+++ b/APMrover2/control_modes.cpp
@@ -189,6 +189,15 @@ void Rover::read_aux_switch()
             cruise_learn_complete();
         }
         break;
+
+    // arm or disarm the motors
+    case CH7_ARM_DISARM:
+        if (aux_ch7 == AUX_SWITCH_HIGH) {
+            arm_motors(AP_Arming::RUDDER);
+        } else if (aux_ch7 == AUX_SWITCH_LOW) {
+            disarm_motors();
+        }
+        break;
     }
 }
 
diff --git a/APMrover2/defines.h b/APMrover2/defines.h
index 3a5c109519..3314a1042c 100644
--- a/APMrover2/defines.h
+++ b/APMrover2/defines.h
@@ -17,7 +17,8 @@
 enum ch7_option {
     CH7_DO_NOTHING      = 0,
     CH7_SAVE_WP         = 1,
-    CH7_LEARN_CRUISE    = 2
+    CH7_LEARN_CRUISE    = 2,
+    CH7_ARM_DISARM      = 3
 };
 
 // HIL enumerations