Copter : How to enable read redundant rc input channels as old firmware

[SwiftGust]

Bug report

Issue details

I'm trying to move custom code I wrote for old firmware to ardupilot-master, I have a problem that I could be able to do something switch with an additional simple code in radio.cpp in read_radio() function like read PWM from RC input 5~8 and add custom code for access from a transmitter switch.

 if (RC_Channels::rc_channel(CH_7)->get_radio_in() > 1600)
{ 
         // do something... 
}

this way does not work any more in new firmware, how should I get this around? I don't want to mess with RC_Channel library by adding functions like do_aux_function since it is hard to access core libraries Thanks in advance.

Version Copter - 3.6.0-rc8

Platform [ ] All [ ] AntennaTracker [V] Copter [ ] Plane [ ] Rover [ ] Submarine

Airframe type Any of Copter

Hardware type NAVIO2, SITL

[rmackay9]

This is really a developer question so best to ask in the dev forums or on gitter... but in any case, I think that should still work. Another alternative is to use the rc "singleton" like this, "rc().channel(CH_6)->get_radio_in()"

[SwiftGust]

I'm sorry to post thing here but I posted this gitter on Research channel first and got no response. And I did try that way too.

 if (rc().channel(CH_7)->get_radio_in() > 1600)
{ 
         // do something... 
}

But didn't work so I'm looking for another answer to that...

[auturgy]

@peterbarker is the guy for this one, but CanberraUAV have his focus for the next couple of weeks...

Regards,

James

On 7 Sep 2018, at 8:42 pm, Seunghwan Jo notifications@github.com wrote:

I'm sorry to post thing here I posted this gitter on Research channel but got no response. And I did try that way too. if (rc().channel(CH_7)->get_radio_in() > 1600) { // do something... } But didn't work so I'm looking for another answer to that...

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[SwiftGust]

This is solved by following way. In the new firmware, custom code directly inserted in the ArduCopter.cpp / Copter::rc_loop() works fine. This was used to work with adding custom code in the radio.cpp / Copter::read_radio() function.