Support up to 11 servos in APM2

Conflicts:

	ArduPlane/ArduPlane.pde

ArduPlane/ArduPlane.pde

@@ -897,7 +897,11 @@ static void slow_loop()
 			// ----------------------------------
 			update_servo_switches();
 
+#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
 			update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
+#else
+			update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11);
+#endif
 			break;
 
 		case 2:
@@ -1056,7 +1060,7 @@ static void update_current_flight_mode(void)
 				// Substitute stick inputs for Navigation control output
 				// We use g.pitch_limit_min because its magnitude is
 				// normally greater than g.pitch_limit_max
-                
+
                 // Thanks to Yury MonZon for the altitude limit code!
 
 				nav_roll = g.channel_roll.norm_input() * g.roll_limit;

ArduPlane/Parameters.h

@@ -151,6 +151,9 @@ public:
 		k_param_gcs_heartbeat_fs_enabled,
         k_param_throttle_slewrate,
 
+        k_param_rc_9,
+        k_param_rc_10,
+        k_param_rc_11,
         //
         // 200: Feed-forward gains
         //
@@ -365,6 +368,11 @@ public:
 	RC_Channel_aux	rc_6;
 	RC_Channel_aux	rc_7;
 	RC_Channel_aux	rc_8;
+#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+	RC_Channel_aux	rc_9;
+	RC_Channel_aux	rc_10;
+	RC_Channel_aux	rc_11;
+#endif
 
     // PID controllers
     //

ArduPlane/Parameters.pde

@@ -393,7 +393,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
 	GSCALAR(min_gndspeed,           "MIN_GNDSPD_CM"),
 
     // @Param: TRIM_PITCH_CD
-	// @DisplayName: Pitch angle offset 
+	// @DisplayName: Pitch angle offset
 	// @Description: offset to add to pitch - used for trimming tail draggers
 	// @Units: centi-Degrees
 	// @User: Advanced
@@ -476,6 +476,20 @@ static const AP_Param::Info var_info[] PROGMEM = {
 	// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
 	GGROUP(rc_8,                    "RC8_", RC_Channel_aux),
 
+#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+	// @Group: RC9_
+	// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
+	GGROUP(rc_9,                    "RC9_", RC_Channel_aux),
+
+	// @Group: RC10_
+	// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
+	GGROUP(rc_10,                    "RC10_", RC_Channel_aux),
+
+	// @Group: RC11_
+	// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
+	GGROUP(rc_11,                    "RC11_", RC_Channel_aux),
+#endif
+
 	GGROUP(pidNavRoll,              "HDNG2RLL_",  PID),
 	GGROUP(pidServoRoll,            "RLL2SRV_",   PID),
 	GGROUP(pidServoPitch,           "PTCH2SRV_",  PID),

ArduPlane/radio.pde

@@ -28,7 +28,11 @@ static void init_rc_in()
 	//g.channel_throttle.dead_zone = 6;
 
 	//set auxiliary ranges
+#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
 	update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
+#else
+	update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11);
+#endif
 }
 
 static void init_rc_out()