From b95ac72d35a4a13bf09eb4d00ee7bd999e77035c Mon Sep 17 00:00:00 2001
From: Ammarf <35584084+Ammarf@users.noreply.github.com>
Date: Thu, 24 May 2018 17:13:12 +0900
Subject: [PATCH] Rover: add LOITER to ch7 options

---
 APMrover2/Parameters.cpp    | 4 ++--
 APMrover2/control_modes.cpp | 9 +++++++++
 APMrover2/defines.h         | 3 ++-
 3 files changed, 13 insertions(+), 3 deletions(-)

diff --git a/APMrover2/Parameters.cpp b/APMrover2/Parameters.cpp
index c8fc0b2542..bb50df91a5 100644
--- a/APMrover2/Parameters.cpp
+++ b/APMrover2/Parameters.cpp
@@ -41,7 +41,7 @@ const AP_Param::Info Rover::var_info[] = {
     // @Param: INITIAL_MODE
     // @DisplayName: Initial driving mode
     // @Description: This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. Usually used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART.
-    // @Values: 0:MANUAL,1:ACRO,3:STEERING,4:HOLD,10:AUTO,11:RTL,15:GUIDED
+    // @Values: 0:MANUAL,1:ACRO,3:STEERING,4:HOLD,5:LOITER,10:AUTO,11:RTL,15:GUIDED
     // @User: Advanced
     GSCALAR(initial_mode,        "INITIAL_MODE",     MANUAL),
 
@@ -129,7 +129,7 @@ const AP_Param::Info Rover::var_info[] = {
     // @Param: CH7_OPTION
     // @DisplayName: Channel 7 option
     // @Description: What to do use channel 7 for
-    // @Values: 0:Nothing,1:SaveWaypoint,2:LearnCruiseSpeed,3:ArmDisarm,4:Manual,5:Acro,6:Steering,7:Hold,8:Auto,9:RTL,10:SmartRTL,11:Guided
+    // @Values: 0:Nothing,1:SaveWaypoint,2:LearnCruiseSpeed,3:ArmDisarm,4:Manual,5:Acro,6:Steering,7:Hold,8:Auto,9:RTL,10:SmartRTL,11:Guided,12:Loiter
     // @User: Standard
     GSCALAR(ch7_option,             "CH7_OPTION",          CH7_OPTION),
 
diff --git a/APMrover2/control_modes.cpp b/APMrover2/control_modes.cpp
index 9ed3885611..a17787a5c7 100644
--- a/APMrover2/control_modes.cpp
+++ b/APMrover2/control_modes.cpp
@@ -273,6 +273,15 @@ void Rover::read_aux_switch()
             reset_control_switch();
         }
         break;
+
+    // Set mode to LOITER
+    case CH7_LOITER:
+        if (aux_ch7 == AUX_SWITCH_HIGH) {
+            set_mode(mode_loiter, MODE_REASON_TX_COMMAND);
+        } else if ((aux_ch7 == AUX_SWITCH_LOW) && (control_mode == &mode_loiter)) {
+            reset_control_switch();
+        }
+        break;
     }
 }
 
diff --git a/APMrover2/defines.h b/APMrover2/defines.h
index 5e3a44ad1a..61eacbb147 100644
--- a/APMrover2/defines.h
+++ b/APMrover2/defines.h
@@ -26,7 +26,8 @@ enum ch7_option {
     CH7_AUTO            = 8,
     CH7_RTL             = 9,
     CH7_SMART_RTL       = 10,
-    CH7_GUIDED          = 11
+    CH7_GUIDED          = 11,
+    CH7_LOITER          = 12
 };
 
 // HIL enumerations