From 99b3a629a86b644ca0e57691070ae056014d1258 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Jun 2011 15:22:20 -0500
Subject: [PATCH] OP-493: Force three AccessoryDesired objects to always exist.
  Routing to Mixing channel now works.  However Accessory desired instances do
 not show up in GCS.

---
 flight/Modules/ManualControl/manualcontrol.c  | 33 ++++++++++++-------
 flight/Project/gdb/coptercontrol              |  2 +-
 .../manualcontrolsettings.xml                 |  2 +-
 3 files changed, 24 insertions(+), 13 deletions(-)

diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c
index 4870db6bc..8b972bc6e 100644
--- a/flight/Modules/ManualControl/manualcontrol.c
+++ b/flight/Modules/ManualControl/manualcontrol.c
@@ -171,6 +171,11 @@ static void manualControlTask(void *parameters)
 	uint8_t disconnected_count = 0;
 	uint8_t connected_count = 0;
 
+	// For now manual instantiate extra instances of Accessory Desired.  In future should be done dynamically
+	// this includes not even registering it if not used
+	AccessoryDesiredCreateInstance();
+	AccessoryDesiredCreateInstance();
+
 	// Make sure unarmed on power up
 	ManualControlCommandGet(&cmd);
 	FlightStatusGet(&flightStatus);
@@ -268,18 +273,24 @@ static void manualControlTask(void *parameters)
 				flightMode         = scaledChannel[settings.FlightMode];
 
 				AccessoryDesiredData accessory;
+				// Set Accessory 0
+				if(settings.Accessory0 != MANUALCONTROLSETTINGS_ACCESSORY0_NONE) {
+					accessory.AccessoryVal = scaledChannel[settings.Accessory0];
+					if(AccessoryDesiredInstSet(0, &accessory) != 0)
+						AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
+				}
 				// Set Accessory 1
-				accessory.AccessoryVal = scaledChannel[settings.Accessory1];
-				if(AccessoryDesiredInstSet(0, &accessory) != 0)
-					   AccessoryDesiredCreateInstance();
-				// Set Accessory 2
-				accessory.AccessoryVal = scaledChannel[settings.Accessory2];
-				if(AccessoryDesiredInstSet(1, &accessory) != 0)
-					AccessoryDesiredCreateInstance();
-				// Set Accsesory 3
-				accessory.AccessoryVal = scaledChannel[settings.Accessory3];
-				if(AccessoryDesiredInstSet(2, &accessory) != 0)
-					AccessoryDesiredCreateInstance();
+				if(settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE) {
+					accessory.AccessoryVal = scaledChannel[settings.Accessory1];
+					if(AccessoryDesiredInstSet(1, &accessory) != 0)
+						AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
+				}
+				// Set Accsesory 2
+				if(settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE) {
+					accessory.AccessoryVal = scaledChannel[settings.Accessory2];
+					if(AccessoryDesiredInstSet(2, &accessory) != 0)
+						AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
+				}
 
 
 				processFlightMode(&settings, flightMode);
diff --git a/flight/Project/gdb/coptercontrol b/flight/Project/gdb/coptercontrol
index d08282e50..7e7b53453 100644
--- a/flight/Project/gdb/coptercontrol
+++ b/flight/Project/gdb/coptercontrol
@@ -1,7 +1,7 @@
 define connect
 	target remote localhost:3333
 	monitor cortex_m3 vector_catch all
-	file ./build/coptercontrol/CopterControl.elf
+	file ./build/fw_coptercontrol/fw_coptercontrol.elf
 end
 #monitor reset halt
 
diff --git a/shared/uavobjectdefinition/manualcontrolsettings.xml b/shared/uavobjectdefinition/manualcontrolsettings.xml
index 63488deee..0828932e4 100644
--- a/shared/uavobjectdefinition/manualcontrolsettings.xml
+++ b/shared/uavobjectdefinition/manualcontrolsettings.xml
@@ -7,9 +7,9 @@
         <field name="Yaw" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="Channel3"/>
         <field name="Throttle" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="Channel4"/>
         <field name="FlightMode" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="Channel5"/>
+        <field name="Accessory0" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
         <field name="Accessory1" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
         <field name="Accessory2" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
-        <field name="Accessory3" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
         <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"/>
 	
 	<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->