Merge pull request #979 from PX4/acro2

ACRO mode

3 files changed, 11 insertions, 8 deletions

diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h
index 19a29635b..910b8a623 100644
--- a/src/modules/uORB/topics/manual_control_setpoint.h
+++ b/src/modules/uORB/topics/manual_control_setpoint.h
@@ -97,6 +97,7 @@ struct manual_control_setpoint_s {
 	switch_pos_t return_switch;			/**< return to launch 2 position switch (mandatory): _NORMAL_, RTL */
 	switch_pos_t posctl_switch;			/**< position control 2 position switch (optional): _ALTCTL_, POSCTL */
 	switch_pos_t loiter_switch;			/**< loiter 2 position switch (optional): _MISSION_, LOITER */
+	switch_pos_t acro_switch;			/**< acro 2 position switch (optional): _MANUAL_, ACRO */
 }; /**< manual control inputs */
 
 /**
diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h
index b60402452..370c54442 100644
--- a/src/modules/uORB/topics/rc_channels.h
+++ b/src/modules/uORB/topics/rc_channels.h
@@ -45,12 +45,12 @@
 /**
  * The number of RC channel inputs supported.
  * Current (Q4/2013) radios support up to 18 channels,
- * leaving at a sane value of 15.
+ * leaving at a sane value of 16.
  * This number can be greater then number of RC channels,
  * because single RC channel can be mapped to multiple
  * functions, e.g. for various mode switches.
  */
-#define RC_CHANNELS_MAPPED_MAX   15
+#define RC_CHANNELS_MAPPED_MAX   16
 
 /**
  * This defines the mapping of the RC functions.
@@ -67,12 +67,13 @@ enum RC_CHANNELS_FUNCTION {
 	POSCTL = 6,
 	LOITER = 7,
 	OFFBOARD_MODE = 8,
-	FLAPS   = 9,
-	AUX_1   = 10,
-	AUX_2   = 11,
-	AUX_3   = 12,
-	AUX_4   = 13,
-	AUX_5   = 14,
+	ACRO    = 9,
+	FLAPS   = 10,
+	AUX_1   = 11,
+	AUX_2   = 12,
+	AUX_3   = 13,
+	AUX_4   = 14,
+	AUX_5   = 15,
 	RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
 };
 
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index f56355246..ea20a317a 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -66,6 +66,7 @@ typedef enum {
 	MAIN_STATE_ALTCTL,
 	MAIN_STATE_POSCTL,
 	MAIN_STATE_AUTO,
+	MAIN_STATE_ACRO,
 	MAIN_STATE_MAX
 } main_state_t;