From 0f4203a755f9165225f063bc76aee42624c08a47 Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Wed, 4 Apr 2012 22:58:42 +0900
Subject: [PATCH] ArduCopter - motors.pde - changed references to "motor_armed"
 to "motors.armed()" because we've moved to using the AP_Motors class.
 Simplified set_servos_4 function which was responsible for calling
 "output_motors_armed" or "output_motors_disarmed" as this determination as to
 whether the motors are armed or not is handled within the AP_Motors class.

---
 ArduCopter/motors.pde | 30 +++++-------------------------
 1 file changed, 5 insertions(+), 25 deletions(-)

diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index 0671fd2090..479e294da0 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -26,7 +26,7 @@ static void arm_motors()
 			arming_counter = 0;
 
 		}else if (arming_counter == ARM_DELAY){
-			if(motor_armed == false){
+			if(motors.armed() == false){
 				// arm the motors and configure for flight
 				init_arm_motors();
 			}
@@ -46,7 +46,7 @@ static void arm_motors()
 			arming_counter = 0;
 
 		}else if (arming_counter == DISARM_DELAY){
-			if(motor_armed == true){
+			if(motors.armed()){
 				// arm the motors and configure for flight
 				init_disarm_motors();
 			}
@@ -82,8 +82,7 @@ static void init_arm_motors()
     if (gcs3.initialised) {
         Serial3.set_blocking_writes(false);
     }
-
-	motor_armed 	= true;
+	motors.armed(true);
 
 	#if PIEZO_ARMING == 1
 	piezo_beep();
@@ -130,7 +129,7 @@ static void init_disarm_motors()
 	gcs_send_text_P(SEVERITY_HIGH, PSTR("DISARMING MOTORS"));
 	#endif
 
-	motor_armed 	= false;
+	motors.armed(false);
 	compass.save_offsets();
 
 	g.throttle_cruise.save();
@@ -149,25 +148,6 @@ static void init_disarm_motors()
 static void
 set_servos_4()
 {
-	if (motor_armed == true && motor_auto_armed == true) {
-		// creates the radio_out and pwm_out values
-		output_motors_armed();
-	} else{
-		output_motors_disarmed();
-	}
-}
-
-int ch_of_mot( int mot ) {
-  switch (mot) {
-    case 1: return MOT_1;
-    case 2: return MOT_2;
-    case 3: return MOT_3;
-    case 4: return MOT_4;
-    case 5: return MOT_5;
-    case 6: return MOT_6;
-    case 7: return MOT_7;
-    case 8: return MOT_8;
-  }
-  return (-1);
+	motors.output();
 }