RC_Channels: Collapse has_new_input() with set_pwm_all()

libraries/RC_Channel/RC_Channel.h

@@ -152,14 +152,12 @@ public:
 
     static uint8_t get_valid_channel_count(void);                      // returns the number of valid channels in the last read
     static int16_t get_receiver_rssi(void);                            // returns [0, 255] for receiver RSSI (0 is no link) if present, otherwise -1
-    static bool has_new_input(void);                                   // returns true if there has been new input since last checked
+    static bool read_input(void);                                      // returns true if new input has been read in
     static void clear_overrides(void);                                 // clears any active overrides
     static bool receiver_bind(const int dsmMode);                      // puts the reciever in bind mode if present, returns true if success
     static bool set_override(const uint8_t chan, const int16_t value); // set a channels override value
     static bool set_overrides(int16_t *overrides, const uint8_t len);  // set multiple overrides at once
 
-    static void set_pwm_all(void);
-    
 private:
     // this static arrangement is to avoid static pointers in AP_Param tables
     static RC_Channel *channels;

libraries/RC_Channel/RC_Channels.cpp

@@ -139,14 +139,20 @@ uint8_t RC_Channels::get_radio_in(uint16_t *chans, const uint8_t num_channels)
 }
 
 /*
-  call read() and set_pwm() on all channels
+  call read() and set_pwm() on all channels if there is new data
  */
-void
-RC_Channels::set_pwm_all(void)
+bool
+RC_Channels::read_input(void)
 {
+    if (!hal.rcin->new_input()) {
+        return false;
+    }
+
     for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
         channels[i].set_pwm(channels[i].read());
     }
+
+    return true;
 }
 
 uint8_t RC_Channels::get_valid_channel_count(void)
@@ -159,11 +165,6 @@ int16_t RC_Channels::get_receiver_rssi(void)
     return hal.rcin->get_rssi();
 }
 
-bool RC_Channels::has_new_input(void)
-{
-    return hal.rcin->new_input();
-}
-
 void RC_Channels::clear_overrides(void)
 {
     hal.rcin->clear_overrides();

libraries/RC_Channel/examples/RC_Channel/RC_Channel.cpp

@@ -51,7 +51,7 @@ void setup()
 
 void loop()
 {
-    RC_Channels::set_pwm_all();
+    RC_Channels::read_input();
     print_pwm();
     
     hal.scheduler->delay(20);