From be86284f1813c35f9b80a85e913a9e2ad53083fc Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 13 Dec 2024 21:15:46 +0000
Subject: [PATCH] RC_Channel: move to AuxFuncTrigger structure

---
 libraries/RC_Channel/RC_Channel.cpp | 23 +++++++++++++++++------
 libraries/RC_Channel/RC_Channel.h   | 27 +++++++++++++++++----------
 2 files changed, 34 insertions(+), 16 deletions(-)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index bae3499173..4feb512739 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -779,7 +779,7 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
 #endif
 #if AP_AHRS_ENABLED
     case AUX_FUNC::AHRS_TYPE:
-        run_aux_function(ch_option, ch_flag, AuxFuncTriggerSource::INIT);
+        run_aux_function(ch_option, ch_flag, AuxFuncTrigger::Source::INIT);
         break;
 #endif
     default:
@@ -977,7 +977,7 @@ bool RC_Channel::read_aux()
 #endif
 
     // debounced; undertake the action:
-    run_aux_function(_option, new_position, AuxFuncTriggerSource::RC);
+    run_aux_function(_option, new_position, AuxFuncTrigger::Source::RC, get_radio_in());
     return true;
 }
 
@@ -1402,12 +1402,20 @@ void RC_Channel::do_aux_function_retract_mount(const AuxSwitchPos ch_flag, const
 }
 #endif  // HAL_MOUNT_ENABLED
 
-bool RC_Channel::run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncTriggerSource source)
+bool RC_Channel::run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncTrigger::Source source, int16_t pwm)
 {
 #if AP_SCRIPTING_ENABLED
     rc().set_aux_cached(ch_option, pos);
 #endif
-    const bool ret = do_aux_function(ch_option, pos);
+
+    const AuxFuncTrigger trigger {
+        func: ch_option,
+        pos: pos,
+        source: source,
+        pwm: pwm,
+    };
+
+    const bool ret = do_aux_function(trigger);
 
 #if HAL_LOGGING_ENABLED
     // @LoggerMessage: AUXF
@@ -1418,7 +1426,7 @@ bool RC_Channel::run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncT
     // @Field: pos: switch position when function triggered
     // @FieldValueEnum: pos: RC_Channel::AuxSwitchPos
     // @Field: source: source of auxiliary function invocation
-    // @FieldValueEnum: source: RC_Channel::AuxFuncTriggerSource
+    // @FieldValueEnum: source: RC_Channel::AuxFuncTrigger::Source
     // @Field: result: true if function was successful
     AP::logger().Write(
         "AUXF",
@@ -1437,8 +1445,11 @@ bool RC_Channel::run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncT
     return ret;
 }
 
-bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
+bool RC_Channel::do_aux_function(const AuxFuncTrigger &trigger)
 {
+    const AUX_FUNC &ch_option = trigger.func;
+    const AuxSwitchPos &ch_flag = trigger.pos;
+
     switch (ch_option) {
 #if AP_FENCE_ENABLED
     case AUX_FUNC::FENCE:
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index 378ca95e13..670810add8 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -314,19 +314,26 @@ public:
         HIGH       // indicates auxiliary switch is in the high position (pwm >1800)
     };
 
-    enum class AuxFuncTriggerSource : uint8_t {
-        INIT,
-        RC,
-        BUTTON,
-        MAVLINK,
-        MISSION,
-        SCRIPTING,
+    // Trigger structure containing the function, position and pwm (if applicable)
+    struct AuxFuncTrigger {
+        AUX_FUNC func;
+        AuxSwitchPos pos;
+        enum class Source : uint8_t {
+            INIT,
+            RC,
+            BUTTON,
+            MAVLINK,
+            MISSION,
+            SCRIPTING,
+        } source;
+        // Trigger PWM, only valid for RC source
+        int16_t pwm;
     };
 
     AuxSwitchPos get_aux_switch_pos() const;
 
     // wrapper function around do_aux_function which allows us to log
-    bool run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncTriggerSource source);
+    bool run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncTrigger::Source source, int16_t pwm = 0);
 
 #if AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED
     const char *string_for_aux_function(AUX_FUNC function) const;
@@ -357,7 +364,7 @@ protected:
     virtual void init_aux_function(AUX_FUNC ch_option, AuxSwitchPos);
 
     // virtual function to be overridden my subclasses
-    virtual bool do_aux_function(AUX_FUNC ch_option, AuxSwitchPos);
+    virtual bool do_aux_function(const AuxFuncTrigger &trigger);
 
     void do_aux_function_armdisarm(const AuxSwitchPos ch_flag);
     void do_aux_function_avoid_adsb(const AuxSwitchPos ch_flag);
@@ -597,7 +604,7 @@ public:
 
     // method for other parts of the system (e.g. Button and mavlink)
     // to trigger auxiliary functions
-    bool run_aux_function(RC_Channel::AUX_FUNC ch_option, RC_Channel::AuxSwitchPos pos, RC_Channel::AuxFuncTriggerSource source) {
+    bool run_aux_function(RC_Channel::AUX_FUNC ch_option, RC_Channel::AuxSwitchPos pos, RC_Channel::AuxFuncTrigger::Source source) {
         return rc_channel(0)->run_aux_function(ch_option, pos, source);
     }