From ea139ddd1ebcec61134d17dbfcadbca44144d29b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 9 Nov 2021 14:34:28 +1100
Subject: [PATCH] Plane: enable fixed wing autotune switch

---
 ArduPlane/RC_Channel.cpp    | 5 +++++
 ArduPlane/control_modes.cpp | 2 ++
 2 files changed, 7 insertions(+)

diff --git a/ArduPlane/RC_Channel.cpp b/ArduPlane/RC_Channel.cpp
index 9599a3b413..4bce7ce1c5 100644
--- a/ArduPlane/RC_Channel.cpp
+++ b/ArduPlane/RC_Channel.cpp
@@ -161,6 +161,7 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
     case AUX_FUNC::LANDING_FLARE:
     case AUX_FUNC::PARACHUTE_RELEASE:
     case AUX_FUNC::MODE_SWITCH_RESET:
+    case AUX_FUNC::FW_AUTOTUNE:
         break;
 
     case AUX_FUNC::Q_ASSIST:
@@ -318,6 +319,10 @@ case AUX_FUNC::ARSPD_CALIBRATE:
         plane.reset_control_switch();
         break;
 
+    case AUX_FUNC::FW_AUTOTUNE:
+        plane.autotune_enable(ch_flag == AuxSwitchPos::HIGH);
+        break;
+
     default:
         return RC_Channel::do_aux_function(ch_option, ch_flag);
     }
diff --git a/ArduPlane/control_modes.cpp b/ArduPlane/control_modes.cpp
index 05268dec92..d66edf9b4a 100644
--- a/ArduPlane/control_modes.cpp
+++ b/ArduPlane/control_modes.cpp
@@ -148,6 +148,7 @@ void Plane::reset_control_switch()
  */
 void Plane::autotune_start(void)
 {
+    gcs().send_text(MAV_SEVERITY_INFO, "Started autotune");
     rollController.autotune_start();
     pitchController.autotune_start();
 }
@@ -159,6 +160,7 @@ void Plane::autotune_restore(void)
 {
     rollController.autotune_restore();
     pitchController.autotune_restore();
+    gcs().send_text(MAV_SEVERITY_INFO, "Stopped autotune");
 }
 
 /*