Plane: move RST_SWITCH_CH to RCx_OPTION

ArduPlane/Parameters.cpp

@@ -638,12 +638,6 @@ const AP_Param::Info Plane::var_info[] = {
     // @User: Advanced
     GSCALAR(log_bitmask,            "LOG_BITMASK",    DEFAULT_LOG_BITMASK),
 
-    // @Param: RST_SWITCH_CH
-    // @DisplayName: Reset Switch Channel
-    // @Description: RC channel to use to reset to last flight mode	after geofence takeover.
-    // @User: Advanced
-    GSCALAR(reset_switch_chan,      "RST_SWITCH_CH",  0),
-
     // @Param: TRIM_ARSPD_CM
     // @DisplayName: Target airspeed
     // @Description: Target airspeed in cm/s in automatic throttle modes. Value is as an indicated (calibrated/apparent) airspeed.

ArduPlane/Parameters.h

@@ -62,7 +62,7 @@ public:
         k_param_flap_1_speed,
         k_param_flap_2_percent,
         k_param_flap_2_speed,
-        k_param_reset_switch_chan,
+        k_param_reset_switch_chan, // unused - moved to RC option
         k_param_manual_level, // unused
         k_param_land_pitch_cd,  // unused - moved to AP_Landing
         k_param_ins_old,            // *** Deprecated, remove with next eeprom number change
@@ -446,7 +446,6 @@ public:
     AP_Int16 dspoiler_rud_rate;
     AP_Int16 num_resets;
     AP_Int32 log_bitmask;
-    AP_Int8 reset_switch_chan;
     AP_Int32 RTL_altitude_cm;
     AP_Int16 pitch_trim_cd;
     AP_Int16 FBWB_min_altitude_cm;

ArduPlane/RC_Channel.cpp

@@ -160,6 +160,7 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
     case AUX_FUNC::FWD_THR:
     case AUX_FUNC::LANDING_FLARE:
     case AUX_FUNC::PARACHUTE_RELEASE:
+    case AUX_FUNC::MODE_SWITCH_RESET:
         break;
 
     case AUX_FUNC::Q_ASSIST:
@@ -319,6 +320,10 @@ case AUX_FUNC::ARSPD_CALIBRATE:
 #endif
         break;
 
+    case AUX_FUNC::MODE_SWITCH_RESET:
+        plane.reset_control_switch();
+        break;
+
     default:
         RC_Channel::do_aux_function(ch_option, ch_flag);
         break;

ArduPlane/config.h

@@ -251,25 +251,12 @@
  # define AC_FENCE ENABLED
 #endif
 
-// pwm value on FENCE_CHANNEL to use to enable fenced mode
-#ifndef FENCE_ENABLE_PWM
- # define FENCE_ENABLE_PWM 1750
-#endif
-
 // a digital pin to set high when the geo-fence triggers. Defaults
 // to -1, which means don't activate a pin
 #ifndef FENCE_TRIGGERED_PIN
  # define FENCE_TRIGGERED_PIN -1
 #endif
 
-// if RESET_SWITCH_CH is not zero, then this is the PWM value on
-// that channel where we reset the control mode to the current switch
-// position (to for example return to switched mode after failsafe or
-// fence breach)
-#ifndef RESET_SWITCH_CHAN_PWM
- # define RESET_SWITCH_CHAN_PWM 1750
-#endif
-
 #ifndef HIL_SUPPORT
 # define HIL_SUPPORT !HAL_MINIMIZE_FEATURES
 #endif

ArduPlane/control_modes.cpp

@@ -105,15 +105,7 @@ void Plane::read_control_switch()
         return;
     }
 
-    // we look for changes in the switch position. If the
+    if (oldSwitchPosition != switchPosition) {
-    // RST_SWITCH_CH parameter is set, then it is a switch that can be
-    // used to force re-reading of the control switch. This is useful
-    // when returning to the previous mode after a failsafe or fence
-    // breach. This channel is best used on a momentary switch (such
-    // as a spring loaded trainer switch).
-    if (oldSwitchPosition != switchPosition ||
-        (g.reset_switch_chan != 0 &&
-         RC_Channels::get_radio_in(g.reset_switch_chan-1) > RESET_SWITCH_CHAN_PWM)) {
 
         if (switch_debouncer == false) {
             // this ensures that mode switches only happen if the