Copter: implement user auxswitch functions

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

ArduCopter/Copter.h

@@ -937,6 +937,9 @@ 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"
 

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

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,
 };
 

ArduCopter/switches.cpp

@@ -727,6 +727,20 @@ 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
     }
 }