From e94177e469d4b897ec9e3a392d2dac35fa8c1824 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 21 May 2018 12:58:12 +1000
Subject: [PATCH] SRV_Channel: added function based set_output_min_max

this is for a conversion of AP_Motors heli code to servo functions
---
 libraries/SRV_Channel/SRV_Channel.h       |  3 +++
 libraries/SRV_Channel/SRV_Channel_aux.cpp | 11 +++++++++++
 2 files changed, 14 insertions(+)

diff --git a/libraries/SRV_Channel/SRV_Channel.h b/libraries/SRV_Channel/SRV_Channel.h
index e66681c760..06242aafb4 100644
--- a/libraries/SRV_Channel/SRV_Channel.h
+++ b/libraries/SRV_Channel/SRV_Channel.h
@@ -301,6 +301,9 @@ public:
     // adjust trim of a channel by a small increment
     void adjust_trim(SRV_Channel::Aux_servo_function_t function, float v);
 
+    // set MIN/MAX parameters for a function
+    static void set_output_min_max(SRV_Channel::Aux_servo_function_t function, uint16_t min_pwm, uint16_t max_pwm);
+    
     // save trims
     void save_trim(void);
 
diff --git a/libraries/SRV_Channel/SRV_Channel_aux.cpp b/libraries/SRV_Channel/SRV_Channel_aux.cpp
index bae8bc08d7..760340088d 100644
--- a/libraries/SRV_Channel/SRV_Channel_aux.cpp
+++ b/libraries/SRV_Channel/SRV_Channel_aux.cpp
@@ -654,6 +654,17 @@ void SRV_Channels::set_range(SRV_Channel::Aux_servo_function_t function, uint16_
     }
 }
 
+// set MIN parameter for a function
+void SRV_Channels::set_output_min_max(SRV_Channel::Aux_servo_function_t function, uint16_t min_pwm, uint16_t max_pwm)
+{
+    for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
+        if (channels[i].function == function) {
+            channels[i].set_output_min(min_pwm);
+            channels[i].set_output_max(max_pwm);
+        }
+    }
+}
+
 // constrain to output min/max for function
 void SRV_Channels::constrain_pwm(SRV_Channel::Aux_servo_function_t function)
 {