From add4906638e0508706d168237acb7dd0e3688dfc Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 18 Mar 2024 11:42:35 +1100
Subject: [PATCH] Tools: simulink: adjust for elimination of RCMAP_

---
 .../findRCChannelNumberForAuxFunction.m       | 40 +++++++++++++++++++
 Tools/simulink/arducopter/sid_sim_init.m      |  8 ++--
 2 files changed, 44 insertions(+), 4 deletions(-)
 create mode 100644 Tools/simulink/arducopter/functions/findRCChannelNumberForAuxFunction.m

diff --git a/Tools/simulink/arducopter/functions/findRCChannelNumberForAuxFunction.m b/Tools/simulink/arducopter/functions/findRCChannelNumberForAuxFunction.m
new file mode 100644
index 00000000000000..84982b2e8b6c49
--- /dev/null
+++ b/Tools/simulink/arducopter/functions/findRCChannelNumberForAuxFunction.m
@@ -0,0 +1,40 @@
+function RCChannelNumberForAuxFunction = findRCChannelNumberForAuxFunction(obj,functionNumber)
+% Return a channel number for the supplied function number from the enumeration in RC_Channel.h
+%
+% Peter Barker, based on getParamVal.m by Fabian Bredemeier
+% License: GPL v3
+
+% Get list of parameter names
+param_names = cell(length(obj.PARM.Name),1);
+for i=1:length(obj.PARM.Name)
+   param_names{i,1} = deblank(obj.PARM.Name(i,1:16));
+end
+
+% Translate parameter name to cell array if only one name is provided
+if ~iscell(paramName)
+    desParamNames{1} = paramName;
+else
+    desParamNames = paramName;
+end
+
+FIXME below this point
+
+% Read parameter(s) with boolean indexing
+paramVals = single(zeros(numel(desParamNames),1));
+for i = 1:length(desParamNames)
+    paramIdx = strcmp(param_names, desParamNames{i});
+    paramVal = single(obj.PARM.Value(paramIdx));
+    if isempty(paramVal)
+        warning('Parameter could not be found!');
+        paramVal = [];
+        return;
+    end
+    paramVals(i,1) = paramVal(1); % Prevent nultidimensional parameters
+    
+    if isempty(paramVals)
+        error(['Parameter ' desParam{i} ' could not be found.']);
+    end
+end
+
+end
+
diff --git a/Tools/simulink/arducopter/sid_sim_init.m b/Tools/simulink/arducopter/sid_sim_init.m
index fb331a61271880..8a0ef389ffdffa 100644
--- a/Tools/simulink/arducopter/sid_sim_init.m
+++ b/Tools/simulink/arducopter/sid_sim_init.m
@@ -119,10 +119,10 @@
 
 clear trim_x trim_y
 %% RCIN - Radio Input and parameters for Attitude Control
-rollCh = getParamVal(sid, 'RCMAP_ROLL');
-pitchCh = getParamVal(sid, 'RCMAP_PITCH');
-yawCh = getParamVal(sid, 'RCMAP_YAW');
-thrCh = getParamVal(sid, 'RCMAP_THROTTLE');
+rollCh = findRCChannelNumberForAuxFunction(sid, 201);
+pitchCh = findRCChannelNumberForAuxFunction(sid, 202);
+yawCh = findRCChannelNumberForAuxFunction(sid, 204);
+thrCh = findRCChannelNumberForAuxFunction(sid, 203);
 
 simIn.param.RCIN.DZ_RLL = getParamVal(sid, ['RC' num2str(rollCh) '_DZ']);
 simIn.param.RCIN.MIN_RLL = getParamVal(sid, ['RC' num2str(rollCh) '_MIN']);