[auto1] FLAPS, HATCH, BRAKE operate from the remote in AUTO1

conf/airframes/CDW/yapa_xsens.xml

@@ -46,6 +46,7 @@
       <define name="DC_SHUTTER_GPIO" value="GPIOB,GPIO16"/>
     </load>
     <load name="nav_line.xml"/>
+    <load name="auto1_commands.xml"/>
   </modules>
 
   <!-- ************************* ACTUATORS ************************* -->
@@ -63,7 +64,7 @@
     <axis name="ROLL" failsafe_value="0"/>
     <axis name="PITCH" failsafe_value="0"/>
     <axis name="YAW" failsafe_value="0"/>
-    <axis name="BRAKE" failsafe_value="9600"/>
+    <axis name="FLAPS" failsafe_value="9600"/>
     <!-- both elerons up as butterfly brake -->
   </commands>
 
@@ -72,7 +73,7 @@
     <set command="ROLL" value="@ROLL"/>
     <set command="YAW" value="@YAW"/>
     <set command="PITCH" value="@PITCH"/>
-    <set command="BRAKE" value="@FLAPS"/>
+    <set command="FLAPS" value="@FLAPS"/>
   </rc_commands>
 
   <section name="AUTO1" prefix="AUTO1_">
@@ -95,7 +96,7 @@
 
   <command_laws>
     <!-- Brake Rate Limiter -->
-    <let var="brake_value_nofilt" value="Chop(-@BRAKE, 0, MAX_PPRZ)"/>
+    <let var="brake_value_nofilt" value="Chop(-@FLAPS, 0, MAX_PPRZ)"/>
     <ratelimit var="brake_value" value="$brake_value_nofilt" rate_min="-MAX_BRAKE_RATE" rate_max="MAX_BRAKE_RATE"/>
     <!-- Differential Aileron Depending on Brake Value -->
     <let var="aileron_up_rate" value="(AILERON_RATE_UP   * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_UP_BRAKE   * $brake_value)"/>

conf/modules/auto1_commands.xml

@@ -0,0 +1,16 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="servo_switch">
+  <doc>
+    <description>AUTO1 FLAPS/HATCH COMMANDS.
+      Enable RC controlled HATCH and BRAKE/FLAPS in both MANUAL and AUTO1, while automatic in AUTO2.
+    </description>
+  </doc>
+  <header>
+  </header>
+  <periodic fun="periodic_auto1_commands()" autorun="TRUE"/>
+  <makefile>
+    <file name="auto1_commands.c"/>
+  </makefile>
+</module>
+

sw/airborne/modules/servo_switch/auto1_commands.c

@@ -0,0 +1,51 @@
+/*
+ * Copyright (C) 2014 OpenUAS
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+#include "auto1_commands.h"
+#include "generated/airframe.h"
+#include "firmwares/fixedwing/autopilot.h"
+#include "inter_mcu.h"
+
+void periodic_auto1_commands(void)
+{
+  // Copy Radio commands in AUTO1
+  if (pprz_mode == PPRZ_MODE_AUTO1) {
+#ifdef COMMAND_HATCH
+#ifndef RADIO_HATCH
+#error auto1_commands COMMAND_HATCH needs RADIO_HATCH channel
+#endif
+    ap_state->commands[COMMAND_HATCH] = fbw_state->channels[RADIO_HATCH];
+#endif
+#ifdef COMMAND_BRAKE
+#ifndef RADIO_BRAKE
+#error auto1_commands COMMAND_BRAKE needs RADIO_BRAKE channel
+#endif
+    ap_state->commands[COMMAND_BRAKE] = fbw_state->channels[RADIO_BRAKE];
+#endif
+#ifdef COMMAND_FLAPS
+#ifndef RADIO_FLAPS
+#error auto1_commands COMMAND_FLAPS needs RADIO_FLAPS channel
+#endif
+    ap_state->commands[COMMAND_FLAPS] = fbw_state->channels[RADIO_FLAPS];
+#endif
+  }
+}

sw/airborne/modules/servo_switch/auto1_commands.h

@@ -0,0 +1,33 @@
+/*
+ * Copyright (C) 2014 OpenUAS
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+/** \file auto1_commands.h
+ *
+ *  Enable AUTO1 commands flaps and hatch from RC
+ */
+
+#ifndef AUTO1_COMMANDS_H
+#define AUTO1_COMMANDS_H
+
+extern void periodic_auto1_commands(void);
+
+#endif