From 4d83644bd6fc93ed8c3b5d58cd6ca54a60fa4444 Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Thu, 26 Apr 2018 16:15:08 -0700
Subject: [PATCH] AP_HAL_PX4: Remove RC overrides

---
 libraries/AP_HAL_PX4/RCInput.cpp | 39 +-------------------------------
 libraries/AP_HAL_PX4/RCInput.h   |  8 +------
 2 files changed, 2 insertions(+), 45 deletions(-)

diff --git a/libraries/AP_HAL_PX4/RCInput.cpp b/libraries/AP_HAL_PX4/RCInput.cpp
index 5c29821319..8b2d981076 100644
--- a/libraries/AP_HAL_PX4/RCInput.cpp
+++ b/libraries/AP_HAL_PX4/RCInput.cpp
@@ -21,7 +21,6 @@ void PX4RCInput::init()
     if (_rc_sub == -1) {
         AP_HAL::panic("Unable to subscribe to input_rc");
     }
-    clear_overrides();
     pthread_mutex_init(&rcin_mutex, nullptr);
 
 #if HAL_RCINPUT_WITH_AP_RADIO
@@ -40,12 +39,7 @@ bool PX4RCInput::new_input()
         // don't consider input valid if we are in RC failsafe.
         valid = false;
     }
-    if (_override_valid) {
-        // if we have RC overrides active, then always consider it valid
-        valid = true;
-    }
     _last_read = _rcin.timestamp_last_signal;
-    _override_valid = false;
     pthread_mutex_unlock(&rcin_mutex);
     if (_rcin.input_source != last_input_source) {
         gcs().send_text(MAV_SEVERITY_DEBUG, "RCInput: decoding %s", input_source_name(_rcin.input_source));
@@ -64,19 +58,10 @@ uint8_t PX4RCInput::num_channels()
 
 uint16_t PX4RCInput::read(uint8_t ch)
 {
-    if (ch >= RC_INPUT_MAX_CHANNELS) {
+    if (ch >= MIN(RC_INPUT_MAX_CHANNELS, _rcin.channel_count)) {
         return 0;
     }
     pthread_mutex_lock(&rcin_mutex);
-    if (_override[ch]) {
-        uint16_t v = _override[ch];
-        pthread_mutex_unlock(&rcin_mutex);
-        return v;
-    }
-    if (ch >= _rcin.channel_count) {
-        pthread_mutex_unlock(&rcin_mutex);
-        return 0;
-    }
     uint16_t v = _rcin.values[ch];
     pthread_mutex_unlock(&rcin_mutex);
 
@@ -101,28 +86,6 @@ uint8_t PX4RCInput::read(uint16_t* periods, uint8_t len)
     return len;
 }
 
-bool PX4RCInput::set_override(uint8_t channel, int16_t override) {
-    if (override < 0) {
-        return false; /* -1: no change. */
-    }
-    if (channel >= RC_INPUT_MAX_CHANNELS) {
-        return false;
-    }
-    _override[channel] = override;
-    if (override != 0) {
-        _override_valid = true;
-        return true;
-    }
-    return false;
-}
-
-void PX4RCInput::clear_overrides()
-{
-    for (uint8_t i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
-        set_override(i, 0);
-    }
-}
-
 const char *PX4RCInput::input_source_name(uint8_t id) const
 {
     switch(id) {
diff --git a/libraries/AP_HAL_PX4/RCInput.h b/libraries/AP_HAL_PX4/RCInput.h
index 9bf3fe002f..f4d9ceb117 100644
--- a/libraries/AP_HAL_PX4/RCInput.h
+++ b/libraries/AP_HAL_PX4/RCInput.h
@@ -8,7 +8,7 @@
 
 
 #ifndef RC_INPUT_MAX_CHANNELS
-#define RC_INPUT_MAX_CHANNELS 18
+#define RC_INPUT_MAX_CHANNELS 18u
 #endif
 
 class PX4::PX4RCInput : public AP_HAL::RCInput {
@@ -23,21 +23,15 @@ public:
         return _rssi;
     }
         
-    
-    bool set_override(uint8_t channel, int16_t override) override;
-    void clear_overrides() override;
-
     void _timer_tick(void);
 
     bool rc_bind(int dsmMode) override;
 
 private:
     /* override state */
-    uint16_t _override[RC_INPUT_MAX_CHANNELS];
     struct rc_input_values _rcin;
     int _rc_sub;
     uint64_t _last_read;
-    bool _override_valid;
     perf_counter_t _perf_rcin;
     pthread_mutex_t rcin_mutex;
     int16_t _rssi = -1;