From fd0f31dc4489e526a990a1954d87485803a6332f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 22 Jul 2016 11:24:35 +1000
Subject: [PATCH] Rover: added AP_Button support

---
 APMrover2/APMrover2.cpp  | 1 +
 APMrover2/Parameters.cpp | 4 ++++
 APMrover2/Parameters.h   | 1 +
 APMrover2/Rover.h        | 3 +++
 APMrover2/sensors.cpp    | 8 ++++++++
 5 files changed, 17 insertions(+)

diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index 5d12389850..1546e440fd 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -79,6 +79,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
     SCHED_TASK(frsky_telemetry_send,    5,    100),
 #endif
     SCHED_TASK(dataflash_periodic,     50,    300),
+    SCHED_TASK(button_update,          5,     100),
 };
 
 /*
diff --git a/APMrover2/Parameters.cpp b/APMrover2/Parameters.cpp
index f659598e57..4bbcb3857a 100644
--- a/APMrover2/Parameters.cpp
+++ b/APMrover2/Parameters.cpp
@@ -552,6 +552,10 @@ const AP_Param::Info Rover::var_info[] = {
     // @Path: ../libraries/AP_Notify/AP_Notify.cpp
     GOBJECT(notify, "NTF_",  AP_Notify),
 
+    // @Group: BTN_
+    // @Path: ../libraries/AP_Button/AP_Button.cpp
+    GOBJECT(button, "BTN_",  AP_Button),
+    
 	AP_VAREND
 };
 
diff --git a/APMrover2/Parameters.h b/APMrover2/Parameters.h
index 224592cd21..4c61d1080c 100644
--- a/APMrover2/Parameters.h
+++ b/APMrover2/Parameters.h
@@ -195,6 +195,7 @@ public:
         k_param_steerController,
         k_param_barometer,
         k_param_notify,
+        k_param_button,
 
         k_param_DataFlash = 253, // Logging Group
 
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index 6b10ce9ef2..80ea3d15d6 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -72,6 +72,7 @@
 #include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
 #include <AP_OpticalFlow/AP_OpticalFlow.h>     // Optical Flow library
 #include <AP_RSSI/AP_RSSI.h>                   // RSSI Library
+#include <AP_Button/AP_Button.h>
 
 // Configuration
 #include "config.h"
@@ -134,6 +135,7 @@ private:
     Compass compass;
     AP_InertialSensor ins;
     RangeFinder sonar { serial_manager };
+    AP_Button button;
 
     // flight modes convenience array
     AP_Int8	*modes;
@@ -454,6 +456,7 @@ private:
     void reset_control_switch();
     void read_trim_switch();
     void update_events(void);
+    void button_update(void);
     void navigate();
     void set_control_channels(void);
     void init_rc_in();
diff --git a/APMrover2/sensors.cpp b/APMrover2/sensors.cpp
index cb90bee5be..8110ab32b1 100644
--- a/APMrover2/sensors.cpp
+++ b/APMrover2/sensors.cpp
@@ -119,3 +119,11 @@ void Rover::read_sonars(void)
         obstacle.turn_angle = 0;
     }
 }
+
+/*
+  update AP_Button
+ */
+void Rover::button_update(void)
+{
+    button.update();
+}