From 1a5fd9f30e081bc20e3ba14a21142fab19b36f6f Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 6 Sep 2011 23:16:34 -0500
Subject: [PATCH] Heli: Added an explicit collective channel.  Also make the
 default channel number 0 since that is not invalid.

---
 flight/Modules/Actuator/actuator.c                   |  6 +++++-
 flight/Modules/ManualControl/manualcontrol.c         |  6 ++++++
 shared/uavobjectdefinition/manualcontrolcommand.xml  |  5 +++--
 shared/uavobjectdefinition/manualcontrolsettings.xml | 12 ++++++------
 shared/uavobjectdefinition/mixersettings.xml         |  2 +-
 5 files changed, 21 insertions(+), 10 deletions(-)

diff --git a/flight/Modules/Actuator/actuator.c b/flight/Modules/Actuator/actuator.c
index 6b353d20f..2f5765016 100644
--- a/flight/Modules/Actuator/actuator.c
+++ b/flight/Modules/Actuator/actuator.c
@@ -42,7 +42,7 @@
 #include "mixersettings.h"
 #include "mixerstatus.h"
 #include "cameradesired.h"
-
+#include "manualcontrolcommand.h"
 
 // Private constants
 #define MAX_QUEUE_SIZE 2
@@ -236,6 +236,10 @@ static void actuatorTask(void* parameters)
 			case MIXERSETTINGS_CURVE2SOURCE_YAW:
 				curve2 = MixerCurve(desired.Yaw,mixerSettings.ThrottleCurve2);
 				break;
+			case MIXERSETTINGS_CURVE2SOURCE_COLLECTIVE:
+				ManualControlCommandCollectiveGet(&curve2);
+				curve2 = MixerCurve(curve2,mixerSettings.ThrottleCurve2);
+				break;
 			case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY0:
 			case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY1:
 			case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY2:
diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c
index 95b519037..bfbc626f6 100644
--- a/flight/Modules/ManualControl/manualcontrol.c
+++ b/flight/Modules/ManualControl/manualcontrol.c
@@ -278,6 +278,7 @@ static void manualControlTask(void *parameters)
 				cmd.Roll = 0;
 				cmd.Yaw = 0;
 				cmd.Pitch = 0;
+				cmd.Collective = 0;
 				//cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO; // don't do until AUTO implemented and functioning
 				// Important: Throttle < 0 will reset Stabilization coefficients among other things. Either change this,
 				// or leave throttle at IDLE speed or above when going into AUTO-failsafe.
@@ -316,6 +317,11 @@ static void manualControlTask(void *parameters)
 				cmd.Throttle       = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE];
 				flightMode         = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE];
 
+				if(cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_INVALID &&
+				   cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_NODRIVER &&
+				   cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_TIMEOUT)
+					cmd.Collective = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE];
+				   
 				AccessoryDesiredData accessory;
 				// Set Accessory 0
 				if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0] != 
diff --git a/shared/uavobjectdefinition/manualcontrolcommand.xml b/shared/uavobjectdefinition/manualcontrolcommand.xml
index ef74c2576..626115233 100644
--- a/shared/uavobjectdefinition/manualcontrolcommand.xml
+++ b/shared/uavobjectdefinition/manualcontrolcommand.xml
@@ -2,10 +2,11 @@
     <object name="ManualControlCommand" singleinstance="true" settings="false">
         <description>The output from the @ref ManualControlModule which descodes the receiver inputs.  Overriden by GCS for fly-by-wire control.</description>
         <field name="Connected" units="" type="enum" elements="1" options="False,True"/>
-        <field name="Roll" units="%" type="float" elements="1"/>
+	<field name="Throttle" units="%" type="float" elements="1"/>
+	<field name="Roll" units="%" type="float" elements="1"/>
         <field name="Pitch" units="%" type="float" elements="1"/>
         <field name="Yaw" units="%" type="float" elements="1"/>
-        <field name="Throttle" units="%" type="float" elements="1"/>
+        <field name="Collective" units="%" type="float" elements="1"/>
 	<field name="Channel" units="us" type="uint16" elements="8"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
diff --git a/shared/uavobjectdefinition/manualcontrolsettings.xml b/shared/uavobjectdefinition/manualcontrolsettings.xml
index 025ff642d..ae7c9b24c 100644
--- a/shared/uavobjectdefinition/manualcontrolsettings.xml
+++ b/shared/uavobjectdefinition/manualcontrolsettings.xml
@@ -2,16 +2,16 @@
     <object name="ManualControlSettings" singleinstance="true" settings="true">
         <description>Settings to indicate how to decode receiver input by @ref ManualControlModule.</description>
         <field name="ChannelGroups" units="Channel Group" type="enum" 
-	       elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Accessory0,Accessory1,Accessory2"
+	       elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"
 	       options="PWM,PPM,Spektrum1,Spektrum2,S.Bus,GCS,None" defaultvalue="None"/>
-	<field name="ChannelNumber" units="channel" type="uint8" defaultvalue="255"
-	       elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Accessory0,Accessory1,Accessory2"/>
+	<field name="ChannelNumber" units="channel" type="uint8" defaultvalue="0"
+	       elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
 	<field name="ChannelMin" units="us" type="int16" defaultvalue="1000"
-	       elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Accessory0,Accessory1,Accessory2"/>
+	       elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
 	<field name="ChannelNeutral" units="us" type="int16" defaultvalue="1500"
-	       elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Accessory0,Accessory1,Accessory2"/>
+	       elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
 	<field name="ChannelMax" units="us" type="int16" defaultvalue="2000"
-	       elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Accessory0,Accessory1,Accessory2"/>
+	       elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
 	       
         <field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>
 
diff --git a/shared/uavobjectdefinition/mixersettings.xml b/shared/uavobjectdefinition/mixersettings.xml
index e070814c5..64aa7604f 100644
--- a/shared/uavobjectdefinition/mixersettings.xml
+++ b/shared/uavobjectdefinition/mixersettings.xml
@@ -6,7 +6,7 @@
         <field name="AccelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
         <field name="DecelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
 	<field name="ThrottleCurve1" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0,0,0,0"/>
-        <field name="Curve2Source" units="" type="enum" elements="1" options="Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Throttle"/>
+        <field name="Curve2Source" units="" type="enum" elements="1" options="Throttle,Roll,Pitch,Yaw,Collective,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Throttle"/>
         <field name="ThrottleCurve2" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
         <field name="Mixer1Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
         <field name="Mixer1Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>