Try and get pios_gcsrcvr working on simulation and revo for testing RTH. Had

to include uavobjectmanager.h manually which was weird

flight/PiOS.osx/inc/pios_gcsrcvr_priv.h

@@ -0,0 +1,47 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup   PIOS_GCSRCVR GCS Receiver Functions
+ * @brief PIOS interface to read from GCS receiver port
+ * @{
+ *
+ * @file       pios_gcsrcvr_priv.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      GCS receiver private functions
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_GCSRCVR_PRIV_H
+#define PIOS_GCSRCVR_PRIV_H
+
+#include <pios.h>
+
+#include "gcsreceiver.h"
+
+extern const struct pios_rcvr_driver pios_gcsrcvr_rcvr_driver;
+
+extern int32_t PIOS_GCSRCVR_Init(uint32_t *gcsrcvr_id);
+
+#endif /* PIOS_GCSRCVR_PRIV_H */
+
+/**
+ * @}
+ * @}
+ */

flight/PiOS.osx/osx/pios_gcsrcvr.c

@@ -0,0 +1,139 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup   PIOS_GCSRCVR GCS Receiver Input Functions
+ * @brief		Code to read the channels within the GCS Receiver UAVObject
+ * @{
+ *
+ * @file       pios_gcsrcvr.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      GCS Input functions (STM32 dependent)
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/* Project Includes */
+#include "pios.h"
+
+#if defined(PIOS_INCLUDE_GCSRCVR)
+#include "openpilot.h"
+#include "pios_gcsrcvr_priv.h"
+
+static GCSReceiverData gcsreceiverdata;
+
+/* Provide a RCVR driver */
+static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel);
+
+const struct pios_rcvr_driver pios_gcsrcvr_rcvr_driver = {
+	.read = PIOS_GCSRCVR_Get,
+};
+
+/* Local Variables */
+enum pios_gcsrcvr_dev_magic {
+	PIOS_GCSRCVR_DEV_MAGIC = 0xe9da5c56,
+};
+
+struct pios_gcsrcvr_dev {
+	enum pios_gcsrcvr_dev_magic magic;
+
+	uint8_t supv_timer;
+	bool Fresh;
+};
+
+static struct pios_gcsrcvr_dev *global_gcsrcvr_dev;
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+static struct pios_gcsrcvr_dev *PIOS_gcsrcvr_alloc(void)
+{
+	struct pios_gcsrcvr_dev * gcsrcvr_dev;
+
+	gcsrcvr_dev = (struct pios_gcsrcvr_dev *)pvPortMalloc(sizeof(*gcsrcvr_dev));
+	if (!gcsrcvr_dev) return(NULL);
+
+	gcsrcvr_dev->magic = PIOS_GCSRCVR_DEV_MAGIC;
+	gcsrcvr_dev->Fresh = FALSE;
+	gcsrcvr_dev->supv_timer = 0;
+
+	/* The update callback cannot receive the device pointer, so set it in a global */
+	global_gcsrcvr_dev = gcsrcvr_dev;
+
+	return(gcsrcvr_dev);
+}
+#else
+static struct pios_gcsrcvr_dev pios_gcsrcvr_devs[PIOS_GCSRCVR_MAX_DEVS];
+static uint8_t pios_gcsrcvr_num_devs;
+static struct pios_gcsrcvr_dev *PIOS_gcsrcvr_alloc(void)
+{
+	struct pios_gcsrcvr_dev *gcsrcvr_dev;
+
+	if (pios_gcsrcvr_num_devs >= PIOS_GCSRCVR_MAX_DEVS) {
+		return (NULL);
+	}
+
+	gcsrcvr_dev = &pios_gcsrcvr_devs[pios_gcsrcvr_num_devs++];
+	gcsrcvr_dev->magic = PIOS_GCSRCVR_DEV_MAGIC;
+	gcsrcvr_dev->Fresh = FALSE;
+	gcsrcvr_dev->supv_timer = 0;
+
+	global_gcsrcvr_dev = gcsrcvr_dev;
+
+	return (gcsrcvr_dev);
+}
+#endif
+
+static void gcsreceiver_updated(UAVObjEvent * ev)
+{
+	struct pios_gcsrcvr_dev *gcsrcvr_dev = global_gcsrcvr_dev;
+	if (ev->obj == GCSReceiverHandle()) {
+		GCSReceiverGet(&gcsreceiverdata);
+		gcsrcvr_dev->Fresh = TRUE;
+	}
+}
+
+extern int32_t PIOS_GCSRCVR_Init(uint32_t *gcsrcvr_id)
+{
+	struct pios_gcsrcvr_dev *gcsrcvr_dev;
+
+	/* Allocate the device structure */
+	gcsrcvr_dev = (struct pios_gcsrcvr_dev *)PIOS_gcsrcvr_alloc();
+	if (!gcsrcvr_dev)
+		return -1;
+
+	/* Register uavobj callback */
+	GCSReceiverConnectCallback (gcsreceiver_updated);
+
+	return 0;
+}
+
+static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel)
+{
+	if (channel >= GCSRECEIVER_CHANNEL_NUMELEM) {
+		/* channel is out of range */
+		return -1;
+	}
+
+	return (gcsreceiverdata.Channel[channel]);
+}
+
+#endif	/* PIOS_INCLUDE_GCSRCVR */
+
+/** 
+  * @}
+  * @}
+  */

flight/Revolution/Makefile.osx

@@ -180,7 +180,7 @@ SRC += $(PIOSPOSIX)/pios_wdg.c
 SRC += $(PIOSPOSIX)/pios_debug.c
 
 SRC += $(PIOSPOSIX)/pios_rcvr.c
-#SRC += $(PIOSPOSIX)/pios_sim.c
+SRC += $(PIOSPOSIX)/pios_gcsrcvr.c
 
 ## Libraries for flight calculations
 SRC += $(FLIGHTLIB)/fifo_buffer.c

flight/Revolution/System/inc/pios_board_sim.h

@@ -63,6 +63,7 @@ extern uint32_t pios_com_spectrum_id;
 #define PIOS_COM_DEBUG                          (PIOS_COM_AUX
 #endif
 
+#define PIOS_GCSRCVR_TIMEOUT_MS 200
 /**
  * glue macros for file IO
  * STM32 uses DOSFS for file IO

flight/Revolution/System/inc/pios_config_sim.h

@@ -43,6 +43,7 @@
 #define PIOS_INCLUDE_UDP
 #define PIOS_INCLUDE_SERVO
 #define PIOS_INCLUDE_RCVR
+#define PIOS_INCLUDE_GCSRCVR
 
 #define PIOS_RCVR_MAX_CHANNELS			12
 #define PIOS_RCVR_MAX_DEVS              3

flight/Revolution/System/pios_board_sim.c

@@ -39,9 +39,7 @@
 #include "manualcontrolsettings.h"
 
 #include "pios_rcvr_priv.h"
-
-struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
-uint32_t pios_rcvr_max_channel;
+#include "pios_gcsrcvr_priv.h"
 
 void Stack_Change() {
 }
@@ -213,6 +211,17 @@ void PIOS_Board_Init(void) {
 #endif	/* PIOS_INCLUDE_GPS */
 #endif
 
+#if defined(PIOS_INCLUDE_GCSRCVR)
+	GCSReceiverInitialize();
+	uint32_t pios_gcsrcvr_id;
+	PIOS_GCSRCVR_Init(&pios_gcsrcvr_id);
+	uint32_t pios_gcsrcvr_rcvr_id;
+	if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) {
+		PIOS_Assert(0);
+	}
+	pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
+#endif	/* PIOS_INCLUDE_GCSRCVR */
+
 }
 
 /**

flight/Revolution/UAVObjects.inc

@@ -45,6 +45,7 @@ UAVOBJSRCFILENAMES += flightplansettings
 UAVOBJSRCFILENAMES += flightplanstatus
 UAVOBJSRCFILENAMES += flighttelemetrystats
 UAVOBJSRCFILENAMES += gcstelemetrystats
+UAVOBJSRCFILENAMES += gcsreceiver
 UAVOBJSRCFILENAMES += gpsposition
 UAVOBJSRCFILENAMES += gpssatellites
 UAVOBJSRCFILENAMES += gpstime

flight/board_hw_defs/revolution/board_hw_defs.c

@@ -1754,10 +1754,13 @@ static const struct pios_ppm_cfg pios_ppm_cfg = {
 
 #endif //PPM
 
+#if defined(PIOS_INCLUDE_GCSRCVR)
+#include "pios_gcsrcvr_priv.h"
+#endif	/* PIOS_INCLUDE_GCSRCVR */
+
 #if defined(PIOS_INCLUDE_RCVR)
 #include "pios_rcvr_priv.h"
-
-#endif
+#endif /* PIOS_INCLUDE_RCVR */
 
 #if defined(PIOS_INCLUDE_USB)
 #include "pios_usb_priv.h"