From b839951ce55986f26882d83cdb5a4a60c6b9b844 Mon Sep 17 00:00:00 2001
From: "james.goppert" <james.goppert@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Wed, 10 Nov 2010 19:02:22 +0000
Subject: [PATCH] Switched to generic servo output.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@821 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 libraries/APM_BinComm/protocol/protocol.def | 11 +---
 libraries/APM_BinComm/protocol/protocol.h   | 63 +++++----------------
 2 files changed, 16 insertions(+), 58 deletions(-)

diff --git a/libraries/APM_BinComm/protocol/protocol.def b/libraries/APM_BinComm/protocol/protocol.def
index 2a2193c3f1..ee2da146ee 100644
--- a/libraries/APM_BinComm/protocol/protocol.def
+++ b/libraries/APM_BinComm/protocol/protocol.def
@@ -224,15 +224,8 @@ message 0x60	MSG_SENSOR
 #
 # Simulation-related messages
 #
-message 0x70 	MSG_SERVO_OUT_PLANE
-	int16_t    	rollServo
-	int16_t    	pitchServo
-	uint16_t    throttleServo
-	int16_t    	yawServo
-	int16_t    	aux1
-	int16_t    	aux2
-	int16_t    	aux3
-	int16_t    	aux4
+message 0x70 	MSG_SERVO_OUT
+	int16_t			value	8
 
 #
 # Direct I/O pin control
diff --git a/libraries/APM_BinComm/protocol/protocol.h b/libraries/APM_BinComm/protocol/protocol.h
index 3a5b039bde..d02bda86ee 100644
--- a/libraries/APM_BinComm/protocol/protocol.h
+++ b/libraries/APM_BinComm/protocol/protocol.h
@@ -1024,69 +1024,34 @@ unpack_msg_sensor(
 //@}
 
 //////////////////////////////////////////////////////////////////////
-/// @name MSG_SERVO_OUT_PLANE 
+/// @name MSG_SERVO_OUT 
 //@{
 
-/// Structure describing the payload section of the MSG_SERVO_OUT_PLANE message
-struct msg_servo_out_plane {
-	int16_t rollServo;
-	int16_t pitchServo;
-	uint16_t throttleServo;
-	int16_t yawServo;
-	int16_t aux1;
-	int16_t aux2;
-	int16_t aux3;
-	int16_t aux4;
+/// Structure describing the payload section of the MSG_SERVO_OUT message
+struct msg_servo_out {
+	int16_t value[8];
 };
 
-/// Send a MSG_SERVO_OUT_PLANE message
+/// Send a MSG_SERVO_OUT message
 inline void
-send_msg_servo_out_plane(
-	const int16_t rollServo,
-	const int16_t pitchServo,
-	const uint16_t throttleServo,
-	const int16_t yawServo,
-	const int16_t aux1,
-	const int16_t aux2,
-	const int16_t aux3,
-	const int16_t aux4)
+send_msg_servo_out(
+	const int16_t (&value)[8])
 {
 	uint8_t *__p = &_encodeBuf.payload[0];
-	_pack(__p, rollServo);
-	_pack(__p, pitchServo);
-	_pack(__p, throttleServo);
-	_pack(__p, yawServo);
-	_pack(__p, aux1);
-	_pack(__p, aux2);
-	_pack(__p, aux3);
-	_pack(__p, aux4);
+	_pack(__p, value, 8);
 	_encodeBuf.header.length = 16;
-	_encodeBuf.header.messageID = MSG_SERVO_OUT_PLANE;
+	_encodeBuf.header.messageID = MSG_SERVO_OUT;
 	_encodeBuf.header.messageVersion = MSG_VERSION_1;
 	_sendMessage();
 };
 
-/// Unpack a MSG_SERVO_OUT_PLANE message
+/// Unpack a MSG_SERVO_OUT message
 inline void
-unpack_msg_servo_out_plane(
-	int16_t &rollServo,
-	int16_t &pitchServo,
-	uint16_t &throttleServo,
-	int16_t &yawServo,
-	int16_t &aux1,
-	int16_t &aux2,
-	int16_t &aux3,
-	int16_t &aux4)
+unpack_msg_servo_out(
+	int16_t (&value)[8])
 {
 	uint8_t *__p = &_decodeBuf.payload[0];
-	_unpack(__p, rollServo);
-	_unpack(__p, pitchServo);
-	_unpack(__p, throttleServo);
-	_unpack(__p, yawServo);
-	_unpack(__p, aux1);
-	_unpack(__p, aux2);
-	_unpack(__p, aux3);
-	_unpack(__p, aux4);
+	_unpack(__p, value, 8);
 };
 //@}
 
@@ -1311,7 +1276,7 @@ enum MessageID {
 	MSG_RADIO_OUT = 0x53,
 	MSG_EEPROM_REQUEST = 0xa0,
 	MSG_EEPROM_SET = 0xa1,
-	MSG_SERVO_OUT_PLANE = 0x70,
+	MSG_SERVO_OUT = 0x70,
 	MSG_PIN_REQUEST = 0x80,
 	MSG_PIN_SET = 0x81,
 	MSG_DATAFLASH_REQUEST = 0x90,