Tracker: add read_radio

AntennaTracker/AntennaTracker.pde

@@ -182,8 +182,8 @@ SITL sitl;
 /**
    antenna control channels
  */
-static RC_Channel channel_yaw(CH_1);
-static RC_Channel channel_pitch(CH_2);
+static RC_Channel channel_yaw(CH_YAW);
+static RC_Channel channel_pitch(CH_PITCH);
 
 ////////////////////////////////////////////////////////////////////////////////
 // GCS selection
@@ -255,6 +255,7 @@ static struct {
  */
 static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
     { update_ahrs,            1,   1000 },
+    { read_radio,             1,    200 },
     { update_tracking,        1,   1000 },
     { update_GPS,             5,   4000 },
     { update_compass,         5,   1500 },

AntennaTracker/config.h

@@ -55,6 +55,17 @@
  # define SERIAL2_BUFSIZE 256
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// RC Channel definitions
+//
+#ifndef CH_YAW
+ # define CH_YAW        CH_1    // RC input/output for yaw on channel 1
+#endif
+#ifndef CH_PITCH
+ # define CH_PITCH      CH_2    // RC input/output for pitch on channel 2
+#endif
+
+
 //////////////////////////////////////////////////////////////////////////////
 // yaw and pitch axis angle range defaults
 //

AntennaTracker/radio.pde

+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+// Functions to read the RC radio input
+
+static void read_radio()
+{
+    if (hal.rcin->new_input()) {
+        channel_yaw.set_pwm(hal.rcin->read(CH_YAW));
+        channel_pitch.set_pwm(hal.rcin->read(CH_PITCH));
+    }
+}