From 515d726ee0afe582cc4b4b6bb66177cdea0c5335 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 3 Jun 2013 15:11:55 +1000
Subject: [PATCH] Plane: use RC_Channel::rc_channel() instead of rc_ch[]

---
 ArduPlane/GCS_Mavlink.pde    | 17 ++++++++---------
 ArduPlane/commands_logic.pde |  3 +--
 ArduPlane/radio.pde          | 11 -----------
 ArduPlane/system.pde         |  3 +--
 4 files changed, 10 insertions(+), 24 deletions(-)

diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 9ad98898ed..84e2398b9d 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -340,19 +340,18 @@ static void NOINLINE send_radio_out(mavlink_channel_t chan)
 {
 #if HIL_MODE != HIL_MODE_DISABLED
     if (!g.hil_servos) {
-        extern RC_Channel* rc_ch[8];
         mavlink_msg_servo_output_raw_send(
             chan,
             micros(),
             0,     // port
-            rc_ch[0]->radio_out,
-            rc_ch[1]->radio_out,
-            rc_ch[2]->radio_out,
-            rc_ch[3]->radio_out,
-            rc_ch[4]->radio_out,
-            rc_ch[5]->radio_out,
-            rc_ch[6]->radio_out,
-            rc_ch[7]->radio_out);
+            RC_Channel::rc_channel(0)->radio_out,
+            RC_Channel::rc_channel(1)->radio_out,
+            RC_Channel::rc_channel(2)->radio_out,
+            RC_Channel::rc_channel(3)->radio_out,
+            RC_Channel::rc_channel(4)->radio_out,
+            RC_Channel::rc_channel(5)->radio_out,
+            RC_Channel::rc_channel(6)->radio_out,
+            RC_Channel::rc_channel(7)->radio_out);
         return;
     }
 #endif
diff --git a/ArduPlane/commands_logic.pde b/ArduPlane/commands_logic.pde
index 66b28263cf..6f9e12ff2d 100644
--- a/ArduPlane/commands_logic.pde
+++ b/ArduPlane/commands_logic.pde
@@ -626,7 +626,6 @@ static void do_set_relay()
 static void do_repeat_servo(uint8_t channel, uint16_t servo_value,
                             int16_t repeat, uint8_t delay_time)
 {
-    extern RC_Channel *rc_ch[8];
     channel = channel - 1;
     if (channel < 5 || channel > 8) {
         // not allowed
@@ -639,7 +638,7 @@ static void do_repeat_servo(uint8_t channel, uint16_t servo_value,
     event_state.delay_ms    = delay_time * 500UL;
     event_state.repeat      = repeat * 2;
     event_state.servo_value = servo_value;
-    event_state.undo_value  = rc_ch[channel]->radio_trim;
+    event_state.undo_value  = RC_Channel::rc_channel(channel)->radio_trim;
     update_events();
 }
 
diff --git a/ArduPlane/radio.pde b/ArduPlane/radio.pde
index 0a775d7cef..12dcf10b1e 100644
--- a/ArduPlane/radio.pde
+++ b/ArduPlane/radio.pde
@@ -5,8 +5,6 @@
 static uint8_t failsafeCounter = 0;                // we wait a second to take over the throttle and send the plane circling
 
 
-extern RC_Channel* rc_ch[8];
-
 static void init_rc_in()
 {
     // set rc channel ranges
@@ -26,15 +24,6 @@ static void init_rc_in()
     //g.channel_rudder.dead_zone    = 60;
     //g.channel_throttle.dead_zone = 6;
 
-    rc_ch[CH_1] = &g.channel_roll;
-    rc_ch[CH_2] = &g.channel_pitch;
-    rc_ch[CH_3] = &g.channel_throttle;
-    rc_ch[CH_4] = &g.channel_rudder;
-    rc_ch[CH_5] = &g.rc_5;
-    rc_ch[CH_6] = &g.rc_6;
-    rc_ch[CH_7] = &g.rc_7;
-    rc_ch[CH_8] = &g.rc_8;
-
     //set auxiliary ranges
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
     update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11, &g.rc_12);
diff --git a/ArduPlane/system.pde b/ArduPlane/system.pde
index f1881c88ca..d822d93482 100644
--- a/ArduPlane/system.pde
+++ b/ArduPlane/system.pde
@@ -645,9 +645,8 @@ static void servo_write(uint8_t ch, uint16_t pwm)
 {
 #if HIL_MODE != HIL_MODE_DISABLED
     if (!g.hil_servos) {
-        extern RC_Channel *rc_ch[8];
         if (ch < 8) {
-            rc_ch[ch]->radio_out = pwm;
+            RC_Channel::rc_channel(ch)->radio_out = pwm;
         }
         return;
     }