Rover: remove dead gcs failsafe code

Also use rc().has_valid_input() before using radio for trim

APMrover2/GCS_Mavlink.cpp

@@ -780,8 +780,6 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
         RC_Channels::set_override(6, packet.chan7_raw, tnow);
         RC_Channels::set_override(7, packet.chan8_raw, tnow);
 
-        rover.failsafe.rc_override_timer = tnow;
-        rover.failsafe_trigger(FAILSAFE_EVENT_RC, false);
         break;
     }
 
@@ -805,8 +803,6 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
         RC_Channels::set_override(uint8_t(rover.rcmap.roll() - 1), roll, tnow);
         RC_Channels::set_override(uint8_t(rover.rcmap.throttle() - 1), throttle, tnow);
 
-        rover.failsafe.rc_override_timer = tnow;
-        rover.failsafe_trigger(FAILSAFE_EVENT_RC, false);
         break;
     }
 
@@ -817,7 +813,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
                 break;
             }
 
-            rover.last_heartbeat_ms = rover.failsafe.rc_override_timer = AP_HAL::millis();
+            rover.last_heartbeat_ms = AP_HAL::millis();
             rover.failsafe_trigger(FAILSAFE_EVENT_GCS, false);
             break;
         }

APMrover2/RC_Channel.cpp

@@ -100,9 +100,6 @@ bool RC_Channels_Rover::has_valid_input() const
     if (rover.failsafe.bits & FAILSAFE_EVENT_THROTTLE) {
         return false;
     }
-    if (rover.failsafe.bits & FAILSAFE_EVENT_RC) {
-        return false;
-    }
     return true;
 }
 

APMrover2/RC_Channel.h

@@ -26,13 +26,13 @@ private:
 
 class RC_Channels_Rover : public RC_Channels
 {
-    bool has_valid_input() const override;
-
-    int8_t flight_mode_channel_number() const override;
 
 public:
 
+    bool has_valid_input() const override;
+
     RC_Channel_Rover obj_channels[NUM_RC_CHANNELS];
+
     RC_Channel_Rover *channel(const uint8_t chan) override {
         if (chan > NUM_RC_CHANNELS) {
             return nullptr;
@@ -40,4 +40,7 @@ public:
         return &obj_channels[chan];
     }
 
+private:
+
+    int8_t flight_mode_channel_number() const override;
 };

APMrover2/Rover.h

@@ -247,16 +247,12 @@ private:
     // This is set to -1 when we need to re-read the switch
     uint8_t oldSwitchPosition;
 
-    // A flag if GCS joystick control is in use
-    bool rc_override_active;
-
     // Failsafe
     // A tracking variable for type of failsafe active
     // Used for failsafe based on loss of RC signal or GCS signal. See
     // FAILSAFE_EVENT_*
     struct {
         uint8_t bits;
-        uint32_t rc_override_timer;
         uint32_t start_time;
         uint8_t triggered;
         uint32_t last_valid_rc_ms;

APMrover2/defines.h

@@ -20,7 +20,6 @@
 // types of failsafe events
 #define FAILSAFE_EVENT_THROTTLE (1<<0)
 #define FAILSAFE_EVENT_GCS      (1<<1)
-#define FAILSAFE_EVENT_RC       (1<<2)
 
 //  Logging parameters
 #define LOG_THR_MSG             0x01

APMrover2/radio.cpp

@@ -124,21 +124,16 @@ void Rover::control_failsafe(uint16_t pwm)
         return;
     }
 
-    // Check for failsafe condition based on loss of GCS control
+    bool failed = pwm < static_cast<uint16_t>(g.fs_throttle_value);
-    if (rc_override_active) {
+    if (AP_HAL::millis() - failsafe.last_valid_rc_ms > 2000) {
-        failsafe_trigger(FAILSAFE_EVENT_RC, (millis() - failsafe.rc_override_timer) > 1500);
+        failed = true;
-    } else if (g.fs_throttle_enabled) {
-        bool failed = pwm < static_cast<uint16_t>(g.fs_throttle_value);
-        if (AP_HAL::millis() - failsafe.last_valid_rc_ms > 2000) {
-            failed = true;
-        }
-        failsafe_trigger(FAILSAFE_EVENT_THROTTLE, failed);
     }
+    failsafe_trigger(FAILSAFE_EVENT_THROTTLE, failed);
 }
 
 bool Rover::trim_radio()
 {
-    if (failsafe.bits & FAILSAFE_EVENT_RC) {
+    if (!rc().has_valid_input()) {
         // can't trim without valid input
         return false;
     }