From bfca928211f97455f0daff2caf62334996e2b2ef Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 2 Mar 2012 17:24:18 +1100
Subject: [PATCH] ACM: added RC_SPEED MAVLink parameter

this will set the speed for APM_RC.SetFastOutputChannels()
---
 ArduCopter/Parameters.h   | 4 ++++
 ArduCopter/Parameters.pde | 3 +++
 2 files changed, 7 insertions(+)

diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 9d8ef08d01..f2e6ccfe88 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -145,6 +145,7 @@ public:
 	k_param_radio_tuning_low,
 	k_param_camera_pitch_gain,
 	k_param_camera_roll_gain,
+    k_param_rc_speed,
 
     //
     // 200: flight modes
@@ -293,6 +294,7 @@ public:
 	RC_Channel	rc_8;
 	RC_Channel	rc_camera_pitch;
 	RC_Channel	rc_camera_roll;
+    AP_Int16    rc_speed; // speed of fast RC Channels in Hz
 
 	AP_Float	camera_pitch_gain;
 	AP_Float	camera_roll_gain;
@@ -401,6 +403,8 @@ public:
 	heli_collective_yaw_effect	(0),
 	#endif
 
+    rc_speed(RC_FAST_SPEED),
+
 	camera_pitch_gain 		(CAM_PITCH_GAIN),
 	camera_roll_gain 		(CAM_ROLL_GAIN),
 	stabilize_d 			(STABILIZE_D),
diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index dbf0bd41fb..cfe4170285 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -105,6 +105,9 @@ static const AP_Param::Info var_info[] PROGMEM = {
 	GGROUP(rc_camera_pitch,	"CAM_P_", RC_Channel),
 	GGROUP(rc_camera_roll,	"CAM_R_", RC_Channel),
 
+	// speed of fast RC channels in Hz
+	GSCALAR(rc_speed, "RC_SPEED"),
+
 	// variable
 	//---------
 	GSCALAR(camera_pitch_gain, 	"CAM_P_G"),