From 928e0140eee637018c9112c12620bc060b109cbc Mon Sep 17 00:00:00 2001
From: David Sidrane <david_s5@nscdg.com>
Date: Tue, 25 Sep 2018 14:38:38 -0700
Subject: [PATCH] fmu:Add MODE_4PWM1CAP, MODE_5PWM, MODE_5PWM1CAP

   This extends the  Capture support for FMU
   CHAN 5 and 6.
---
 src/drivers/px4fmu/fmu.cpp | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index ee96be69e9..a25ea7e9c1 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -2486,12 +2486,14 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
 		servo_mode = PX4FMU::MODE_5PWM;
 		break;
 
+
 #  if defined(BOARD_HAS_CAPTURE)
 
 	case PORT_PWM5CAP1:
 		/* select 5-pin PWM mode 1 capture */
 		servo_mode = PX4FMU::MODE_5PWM1CAP;
 		break;
+
 #  endif
 
 	case PORT_PWM4:
@@ -2499,12 +2501,14 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
 		servo_mode = PX4FMU::MODE_4PWM;
 		break;
 
+
 #  if defined(BOARD_HAS_CAPTURE)
 
 	case PORT_PWM4CAP1:
 		/* select 4-pin PWM mode 1 capture */
 		servo_mode = PX4FMU::MODE_4PWM1CAP;
 		break;
+
 #  endif
 
 	case PORT_PWM3:
@@ -3067,13 +3071,13 @@ int PX4FMU::print_status()
 
 	case MODE_4PWM: mode_str = "pwm4"; break;
 
-  case MODE_4PWM1CAP: mode_str = "pwm4cap1"; break;
+  	case MODE_4PWM1CAP: mode_str = "pwm4cap1"; break;
 
-  case MODE_5PWM: mode_str = "pwm5"; break;
+  	case MODE_5PWM: mode_str = "pwm5"; break;
 
-  case MODE_5PWM1CAP: mode_str = "pwm5cap1"; break;
+  	case MODE_5PWM1CAP: mode_str = "pwm5cap1"; break;
 
-  case MODE_6PWM: mode_str = "pwm6"; break;
+  	case MODE_6PWM: mode_str = "pwm6"; break;
 
 	case MODE_8PWM: mode_str = "pwm8"; break;
 
-- 
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