From f2358f2441a8084b0a4fe4ab9993dfcdb0687157 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 8 Feb 2016 19:52:46 +1100
Subject: [PATCH] HAL_PX4: changes for FMUv4

---
 libraries/AP_HAL_PX4/AnalogIn.cpp | 6 +++---
 libraries/AP_HAL_PX4/AnalogIn.h   | 2 +-
 libraries/AP_HAL_PX4/GPIO.cpp     | 2 ++
 libraries/AP_HAL_PX4/RCInput.h    | 5 +++++
 4 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_HAL_PX4/AnalogIn.cpp b/libraries/AP_HAL_PX4/AnalogIn.cpp
index 026f295fea..77ae1c1289 100644
--- a/libraries/AP_HAL_PX4/AnalogIn.cpp
+++ b/libraries/AP_HAL_PX4/AnalogIn.cpp
@@ -48,7 +48,7 @@ static const struct {
     { 11,  6.6f/4096  }, // analog airspeed input, 2:1 scaling
     { 12,  3.3f/4096  }, // analog2, on SPI port pin 3
     { 13, 16.8f/4096  }, // analog3, on SPI port pin 4
-#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
+#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
     { 2,   3.3f/4096  },    // 3DR Brick voltage, usually 10.1:1
                             // scaled from battery voltage
     { 3,   3.3f/4096  },    // 3DR Brick current, usually 17:1 scaled
@@ -269,7 +269,7 @@ void PX4AnalogIn::_timer_tick(void)
     if (ret > 0) {
         // match the incoming channels to the currently active pins
         for (uint8_t i=0; i<ret/sizeof(buf_adc[0]); i++) {
-#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
             if (buf_adc[i].am_channel == 4) {
                 // record the Vcc value for later use in
                 // voltage_average_ratiometric()
@@ -325,7 +325,7 @@ void PX4AnalogIn::_timer_tick(void)
     }
 #endif
 
-#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
     // check for new servorail data on FMUv2
     if (_servorail_handle != -1) {
         struct servorail_status_s servorail;
diff --git a/libraries/AP_HAL_PX4/AnalogIn.h b/libraries/AP_HAL_PX4/AnalogIn.h
index 4bd4d523de..f452364e0c 100644
--- a/libraries/AP_HAL_PX4/AnalogIn.h
+++ b/libraries/AP_HAL_PX4/AnalogIn.h
@@ -14,7 +14,7 @@
 // these are virtual pins that read from the ORB
 #define PX4_ANALOG_ORB_BATTERY_VOLTAGE_PIN     100
 #define PX4_ANALOG_ORB_BATTERY_CURRENT_PIN     101
-#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
+#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
 #define PX4_ANALOG_VCC_5V_PIN                4
 #define PX4_ANALOG_ORB_SERVO_VOLTAGE_PIN       102
 #define PX4_ANALOG_ORB_SERVO_VRSSI_PIN         103
diff --git a/libraries/AP_HAL_PX4/GPIO.cpp b/libraries/AP_HAL_PX4/GPIO.cpp
index 9eb0229567..02142ab364 100644
--- a/libraries/AP_HAL_PX4/GPIO.cpp
+++ b/libraries/AP_HAL_PX4/GPIO.cpp
@@ -58,11 +58,13 @@ void PX4GPIO::init()
     }
 #endif
 
+#ifdef PX4IO_DEVICE_PATH
     // also try to setup for the relay pins on the IO board
     _gpio_io_fd = open(PX4IO_DEVICE_PATH, O_RDWR);
     if (_gpio_io_fd == -1) {
         hal.console->printf("GPIO: Unable to open px4io\n");
     }
+#endif
 }
 
 void PX4GPIO::pinMode(uint8_t pin, uint8_t output)
diff --git a/libraries/AP_HAL_PX4/RCInput.h b/libraries/AP_HAL_PX4/RCInput.h
index cbb8e643ec..ebfeac073c 100644
--- a/libraries/AP_HAL_PX4/RCInput.h
+++ b/libraries/AP_HAL_PX4/RCInput.h
@@ -7,6 +7,11 @@
 #include <systemlib/perf_counter.h>
 #include <pthread.h>
 
+
+#ifndef RC_INPUT_MAX_CHANNELS
+#define RC_INPUT_MAX_CHANNELS 18
+#endif
+
 class PX4::PX4RCInput : public AP_HAL::RCInput {
 public:
     void init(void* machtnichts);