From 517e20093e2739a86e86867593db9f2cf460d5c8 Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Wed, 25 Apr 2018 15:42:47 -0700
Subject: [PATCH] AP_HAL_Linux: Remove set_overrides() method

---
 libraries/AP_HAL_Linux/RCInput.cpp          | 12 ------------
 libraries/AP_HAL_Linux/RCInput.h            |  1 -
 libraries/AP_HAL_Linux/RCOutput_qflight.cpp | 10 +++++++++-
 3 files changed, 9 insertions(+), 14 deletions(-)

diff --git a/libraries/AP_HAL_Linux/RCInput.cpp b/libraries/AP_HAL_Linux/RCInput.cpp
index 8459d179d1..e812e4e3c7 100644
--- a/libraries/AP_HAL_Linux/RCInput.cpp
+++ b/libraries/AP_HAL_Linux/RCInput.cpp
@@ -68,18 +68,6 @@ uint8_t RCInput::read(uint16_t* periods, uint8_t len)
     return len;
 }
 
-bool RCInput::set_overrides(int16_t *overrides, uint8_t len)
-{
-    bool res = false;
-    if(len > LINUX_RC_INPUT_NUM_CHANNELS){
-        len = LINUX_RC_INPUT_NUM_CHANNELS;
-    }
-    for (uint8_t i = 0; i < len; i++) {
-        res |= set_override(i, overrides[i]);
-    }
-    return res;
-}
-
 bool RCInput::set_override(uint8_t channel, int16_t override)
 {
     if (override < 0) return false; /* -1: no change. */
diff --git a/libraries/AP_HAL_Linux/RCInput.h b/libraries/AP_HAL_Linux/RCInput.h
index 6eec1b3474..3ad74ca3ff 100644
--- a/libraries/AP_HAL_Linux/RCInput.h
+++ b/libraries/AP_HAL_Linux/RCInput.h
@@ -26,7 +26,6 @@ public:
         return _rssi;
     }
     
-    bool set_overrides(int16_t *overrides, uint8_t len);
     bool set_override(uint8_t channel, int16_t override);
     void clear_overrides();
 
diff --git a/libraries/AP_HAL_Linux/RCOutput_qflight.cpp b/libraries/AP_HAL_Linux/RCOutput_qflight.cpp
index c80113f47d..9168184875 100644
--- a/libraries/AP_HAL_Linux/RCOutput_qflight.cpp
+++ b/libraries/AP_HAL_Linux/RCOutput_qflight.cpp
@@ -19,6 +19,8 @@
  */
 #include <AP_HAL/AP_HAL.h>
 
+#include <RC_Channel/RC_Channel.h>
+
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
 
 #include "RCOutput_qflight.h"
@@ -166,7 +168,13 @@ void RCOutput_QFLIGHT::check_rc_in(void)
                 }
             }
             if (have_data) {
-                hal.rcin->set_overrides((int16_t*)rcu.rcin.rcin, 8);
+                // FIXME: This is an incredibly dirty hack as this probhibits the usage of
+                // overrides if an RC reciever is connected, as the next RC input will
+                // stomp over the GCS set overrides. This results in incredibly confusing,
+                // undocumented behaviour, that cannot be reported to the user.
+                for (uint8_t i = 0; i < 8; i++) {
+                    RC_Channels::set_override(i, rcu.rcin.rcin[i]);
+                }
             }
         }
         nrcin_bytes = 0;