From fcbd3a823b9268f19720733055061d598f1f4529 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 21 Nov 2012 11:48:46 +1100
Subject: [PATCH] APM: added a new type of auxilary aileron, with rc input

a AileronWithInput assumes you have setup your RC transmitter to give
the right trim and input on the secondary aileron
---
 ArduPlane/Attitude.pde | 7 +++++++
 ArduPlane/radio.pde    | 6 +++++-
 2 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/Attitude.pde b/ArduPlane/Attitude.pde
index b3e8ed23ef..3e3f991873 100644
--- a/ArduPlane/Attitude.pde
+++ b/ArduPlane/Attitude.pde
@@ -368,6 +368,11 @@ static void set_servos(void)
         int16_t aileron_in = g.channel_roll.pwm_to_angle_dz(0);
         RC_Channel_aux::set_servo_out(RC_Channel_aux::k_aileron, aileron_in);
 
+        // this aileron variant assumes you have the corresponding
+        // input channel setup in your transmitter for manual control
+        // of the 2nd aileron
+        RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_aileron_with_input);
+
         // copy flap control from transmitter
         RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_flap_auto);
 
@@ -379,7 +384,9 @@ static void set_servos(void)
         }
     } else {
         if (g.mix_mode == 0) {
+            // both types of secondary aileron are slaved to the roll servo out
             RC_Channel_aux::set_servo_out(RC_Channel_aux::k_aileron, g.channel_roll.servo_out);
+            RC_Channel_aux::set_servo_out(RC_Channel_aux::k_aileron_with_input, g.channel_roll.servo_out);
         }else{
             /*Elevon mode*/
             float ch1;
diff --git a/ArduPlane/radio.pde b/ArduPlane/radio.pde
index 1b341c8e83..4002db75bb 100644
--- a/ArduPlane/radio.pde
+++ b/ArduPlane/radio.pde
@@ -169,7 +169,11 @@ static void trim_control_surfaces()
     if(g.mix_mode == 0) {
         g.channel_roll.radio_trim = g.channel_roll.radio_in;
         g.channel_pitch.radio_trim = g.channel_pitch.radio_in;
-        RC_Channel_aux::set_radio_trim(RC_Channel_aux::k_aileron);
+
+        // the secondary aileron is trimmed only if it has a
+        // corresponding transmitter input channel, which k_aileron
+        // doesn't have
+        RC_Channel_aux::set_radio_trim(RC_Channel_aux::k_aileron_with_input);
     } else{
         elevon1_trim = ch1_temp;
         elevon2_trim = ch2_temp;