From ccefe9da846137c204637cb98ce16c2cc7536c71 Mon Sep 17 00:00:00 2001
From: SergeyBokhantsev <sergey.bokhantsev@invisiblecrm.com>
Date: Fri, 25 May 2018 15:10:53 +0300
Subject: [PATCH] Copter: implement user auxswitch functions

---
 ArduCopter/APM_Config.h |  1 +
 ArduCopter/Copter.h     |  3 +++
 ArduCopter/UserCode.cpp | 17 +++++++++++++++++
 ArduCopter/defines.h    |  3 +++
 ArduCopter/switches.cpp | 14 ++++++++++++++
 5 files changed, 38 insertions(+)

diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index 9c88942e55..8b967d6689 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -65,3 +65,4 @@
 //#define USERHOOK_MEDIUMLOOP userhook_MediumLoop();        // for code to be run at 10hz
 //#define USERHOOK_SLOWLOOP userhook_SlowLoop();            // for code to be run at 3.3hz
 //#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop();  // for code to be run at 1hz
+//#define USERHOOK_AUXSWITCH ENABLED                        // for code to handle user aux switches
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index fa62b12288..dc2e9760c3 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -940,6 +940,9 @@ private:
     void userhook_MediumLoop();
     void userhook_SlowLoop();
     void userhook_SuperSlowLoop();
+    void userhook_auxSwitch1(uint8_t ch_flag);
+    void userhook_auxSwitch2(uint8_t ch_flag);
+    void userhook_auxSwitch3(uint8_t ch_flag);
 
 #include "mode.h"
 
diff --git a/ArduCopter/UserCode.cpp b/ArduCopter/UserCode.cpp
index 8611be31b4..46070d47fa 100644
--- a/ArduCopter/UserCode.cpp
+++ b/ArduCopter/UserCode.cpp
@@ -42,3 +42,20 @@ void Copter::userhook_SuperSlowLoop()
     // put your 1Hz code here
 }
 #endif
+
+#ifdef USERHOOK_AUXSWITCH
+void Copter::userhook_auxSwitch1(uint8_t ch_flag)
+{
+    // put your aux switch #1 handler here (CHx_OPT = 47)
+}
+
+void Copter::userhook_auxSwitch2(uint8_t ch_flag)
+{
+    // put your aux switch #2 handler here (CHx_OPT = 48)
+}
+
+void Copter::userhook_auxSwitch3(uint8_t ch_flag)
+{
+    // put your aux switch #3 handler here (CHx_OPT = 49)
+}
+#endif
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index fb610bb12a..5987596bd8 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -75,6 +75,9 @@ enum aux_sw_func {
     AUXSW_WINCH_ENABLE =        44, // winch enable/disable
     AUXSW_WINCH_CONTROL =       45, // winch control
     AUXSW_RC_OVERRIDE_ENABLE =  46, // enable RC Override
+    AUXSW_USER_FUNC1 =          47, // user function #1
+    AUXSW_USER_FUNC2 =          48, // user function #2
+    AUXSW_USER_FUNC3 =          49, // user function #3
     AUXSW_SWITCH_MAX,
 };
 
diff --git a/ArduCopter/switches.cpp b/ArduCopter/switches.cpp
index 40cffc9413..30e2e15037 100644
--- a/ArduCopter/switches.cpp
+++ b/ArduCopter/switches.cpp
@@ -730,6 +730,20 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
                 }
             }
             break;
+            
+#ifdef USERHOOK_AUXSWITCH
+        case AUXSW_USER_FUNC1:
+            userhook_auxSwitch1(ch_flag);
+            break;
+            
+        case AUXSW_USER_FUNC2:
+            userhook_auxSwitch2(ch_flag);
+            break;
+            
+        case AUXSW_USER_FUNC3:
+            userhook_auxSwitch3(ch_flag);
+            break;
+#endif
     }
 }