From cb5ca713a93e14ebc79bf29accdda48fb06d53b2 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 22 Jul 2016 11:24:13 +1000
Subject: [PATCH] Copter: added AP_Button support

---
 ArduCopter/ArduCopter.cpp | 1 +
 ArduCopter/Copter.h       | 2 ++
 ArduCopter/Parameters.cpp | 4 ++++
 ArduCopter/Parameters.h   | 3 +++
 ArduCopter/sensors.cpp    | 8 ++++++++
 5 files changed, 18 insertions(+)

diff --git a/ArduCopter/ArduCopter.cpp b/ArduCopter/ArduCopter.cpp
index 84fb2cad4c..9033bfb969 100644
--- a/ArduCopter/ArduCopter.cpp
+++ b/ArduCopter/ArduCopter.cpp
@@ -151,6 +151,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #ifdef USERHOOK_SUPERSLOWLOOP
     SCHED_TASK(userhook_SuperSlowLoop, 1,   75),
 #endif
+    SCHED_TASK(button_update,          5,    100),
 };
 
 
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index ea7f52729b..8b44988952 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -88,6 +88,7 @@
 #include <AP_RPM/AP_RPM.h>
 #include <AC_InputManager/AC_InputManager.h>        // Pilot input handling library
 #include <AC_InputManager/AC_InputManager_Heli.h>   // Heli specific pilot input handling library
+#include <AP_Button/AP_Button.h>
 
 // Configuration
 #include "defines.h"
@@ -660,6 +661,7 @@ private:
     void send_rangefinder(mavlink_channel_t chan);
     void send_rpm(mavlink_channel_t chan);
     void rpm_update();
+    void button_update();
     void send_pid_tuning(mavlink_channel_t chan);
     void gcs_send_message(enum ap_message id);
     void gcs_send_mission_item_reached_message(uint16_t mission_index);
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 180a02f856..6e284651b0 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -966,6 +966,10 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("WP_TKOFF_NAV_ALT", 1, ParametersG2, takeoff_nav_alt, 0),
 
+    // @Group: BTN_
+    // @Path: ../libraries/AP_Button/AP_Button.cpp
+    AP_SUBGROUPINFO(button, "BTN_", 2, ParametersG2, AP_Button),
+    
     AP_GROUPEND
 };
 
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index ce7ce14392..4f95c6e034 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -543,6 +543,9 @@ public:
 
     // altitude at which nav control can start in takeoff
     AP_Float takeoff_nav_alt;
+
+    // button checking
+    AP_Button button;
 };
 
 extern const AP_Param::Info        var_info[];
diff --git a/ArduCopter/sensors.cpp b/ArduCopter/sensors.cpp
index 07dedfabac..c33939f580 100644
--- a/ArduCopter/sensors.cpp
+++ b/ArduCopter/sensors.cpp
@@ -226,3 +226,11 @@ void Copter::epm_update()
     epm.update();
 }
 #endif
+
+/*
+  update AP_Button
+ */
+void Copter::button_update(void)
+{
+    g2.button.update();
+}