Copter: consolidate setting of using-iterlock state

ArduCopter/AP_State.cpp

@@ -114,11 +114,15 @@ void Copter::set_pre_arm_rc_check(bool b)
     }
 }
 
-void Copter::set_using_interlock(bool b)
+void Copter::update_using_interlock()
 {
-    if(ap.using_interlock != b) {
-        ap.using_interlock = b;
-    }
+#if FRAME_CONFIG == HELI_FRAME
+    // helicopters are always using motor interlock
+    ap.using_interlock = true;
+#else
+    // check if we are using motor interlock control on an aux switch
+    ap.using_interlock = check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK);
+#endif
 }
 
 void Copter::set_motor_emergency_stop(bool b)

ArduCopter/ArduCopter.cpp

@@ -480,16 +480,12 @@ void Copter::one_hz_loop()
         // make it possible to change ahrs orientation at runtime during initial config
         ahrs.set_orientation();
 
-#if FRAME_CONFIG == HELI_FRAME
-        // helicopters are always using motor interlock
-        set_using_interlock(true);
-#else
+        update_using_interlock();
+
+#if FRAME_CONFIG != HELI_FRAME
         // check the user hasn't updated the frame orientation
         motors.set_frame_orientation(g.frame_orientation);
 
-        // check if we are using motor interlock control on an aux switch
-        set_using_interlock(check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK));
-
         // set all throttle channel settings
         motors.set_throttle_range(g.throttle_min, channel_throttle->radio_min, channel_throttle->radio_max);
         // set hover throttle

ArduCopter/Copter.h

@@ -576,7 +576,7 @@ private:
     void set_land_complete_maybe(bool b);
     void set_pre_arm_check(bool b);
     void set_pre_arm_rc_check(bool b);
-    void set_using_interlock(bool b);
+    void update_using_interlock();
     void set_motor_emergency_stop(bool b);
     float get_smoothing_gain();
     void get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max);

ArduCopter/heli.cpp

@@ -16,9 +16,6 @@ static int8_t heli_dynamic_flight_counter;
 // heli_init - perform any special initialisation required for the tradheli
 void Copter::heli_init()
 {
-    // helicopters are always using motor interlock
-    set_using_interlock(true);
-
     /*
       automatically set H_RSC_MIN and H_RSC_MAX from RC8_MIN and
       RC8_MAX so that when users upgrade from tradheli version 3.3 to

ArduCopter/motors.cpp

@@ -231,7 +231,6 @@ bool Copter::pre_arm_checks(bool display_failure)
     // if it is, switch needs to be in disabled position to arm
     // otherwise exit immediately.  This check to be repeated, 
     // as state can change at any time.
-    set_using_interlock(check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK));
     if (ap.using_interlock && motors.get_interlock()){
         if (display_failure) {
             gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Motor Interlock Enabled");

ArduCopter/switches.cpp

@@ -244,14 +244,9 @@ void Copter::init_aux_switch_function(int8_t ch_option, uint8_t ch_flag)
         case AUXSW_RELAY:
         case AUXSW_LANDING_GEAR:
         case AUXSW_MOTOR_ESTOP:
-            do_aux_switch_function(ch_option, ch_flag);
-            break;
-
         case AUXSW_MOTOR_INTERLOCK:
-            set_using_interlock(check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK));
             do_aux_switch_function(ch_option, ch_flag);
             break;
-            
     }
 }
 

ArduCopter/system.cpp

@@ -162,6 +162,9 @@ void Copter::init_ardupilot()
     log_init();
 #endif
 
+    // update motor interlock state
+    update_using_interlock();
+
 #if FRAME_CONFIG == HELI_FRAME
     // trad heli specific initialisation
     heli_init();