From 6af709e61727b40512995734cc4fa1aee93d1e41 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 12 Oct 2018 10:44:00 +1100
Subject: [PATCH] SRV_Channel: fixed build warnings

---
 libraries/SRV_Channel/SRV_Channel_aux.cpp | 74 +++++++++++------------
 1 file changed, 37 insertions(+), 37 deletions(-)

diff --git a/libraries/SRV_Channel/SRV_Channel_aux.cpp b/libraries/SRV_Channel/SRV_Channel_aux.cpp
index b743ec0b4f..9affa3b068 100644
--- a/libraries/SRV_Channel/SRV_Channel_aux.cpp
+++ b/libraries/SRV_Channel/SRV_Channel_aux.cpp
@@ -291,9 +291,9 @@ SRV_Channels::set_failsafe_pwm(SRV_Channel::Aux_servo_function_t function, uint1
         return;
     }
     for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
-        const SRV_Channel &ch = channels[i];
-        if (ch.function.get() == function) {
-            hal.rcout->set_failsafe_pwm(1U<<ch.ch_num, pwm);
+        const SRV_Channel &c = channels[i];
+        if (c.function.get() == function) {
+            hal.rcout->set_failsafe_pwm(1U<<c.ch_num, pwm);
         }
     }
 }
@@ -308,10 +308,10 @@ SRV_Channels::set_failsafe_limit(SRV_Channel::Aux_servo_function_t function, SRV
         return;
     }
     for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
-        const SRV_Channel &ch = channels[i];
-        if (ch.function.get() == function) {
-            uint16_t pwm = ch.get_limit_pwm(limit);
-            hal.rcout->set_failsafe_pwm(1U<<ch.ch_num, pwm);
+        const SRV_Channel &c = channels[i];
+        if (c.function.get() == function) {
+            uint16_t pwm = c.get_limit_pwm(limit);
+            hal.rcout->set_failsafe_pwm(1U<<c.ch_num, pwm);
         }
     }
 }
@@ -326,10 +326,10 @@ SRV_Channels::set_safety_limit(SRV_Channel::Aux_servo_function_t function, SRV_C
         return;
     }
     for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
-        const SRV_Channel &ch = channels[i];
-        if (ch.function.get() == function) {
-            uint16_t pwm = ch.get_limit_pwm(limit);
-            hal.rcout->set_safety_pwm(1U<<ch.ch_num, pwm);
+        const SRV_Channel &c = channels[i];
+        if (c.function.get() == function) {
+            uint16_t pwm = c.get_limit_pwm(limit);
+            hal.rcout->set_safety_pwm(1U<<c.ch_num, pwm);
         }
     }
 }
@@ -344,16 +344,16 @@ SRV_Channels::set_output_limit(SRV_Channel::Aux_servo_function_t function, SRV_C
         return;
     }
     for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
-        SRV_Channel &ch = channels[i];
-        if (ch.function.get() == function) {
-            uint16_t pwm = ch.get_limit_pwm(limit);
-            ch.set_output_pwm(pwm);
-            if (ch.function.get() == SRV_Channel::k_manual) {
-                RC_Channel *c = rc().channel(ch.ch_num);
-                if (c != nullptr) {
+        SRV_Channel &c = channels[i];
+        if (c.function.get() == function) {
+            uint16_t pwm = c.get_limit_pwm(limit);
+            c.set_output_pwm(pwm);
+            if (c.function.get() == SRV_Channel::k_manual) {
+                RC_Channel *cin = rc().channel(c.ch_num);
+                if (cin != nullptr) {
                     // in order for output_ch() to work for k_manual we
                     // also have to override radio_in
-                    c->set_radio_in(pwm);
+                    cin->set_radio_in(pwm);
                 }
             }
         }
@@ -386,11 +386,11 @@ SRV_Channels::move_servo(SRV_Channel::Aux_servo_function_t function,
     float v = float(value - angle_min) / float(angle_max - angle_min);
     v = constrain_float(v, 0.0f, 1.0f);
     for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
-        SRV_Channel &ch = channels[i];
-        if (ch.function.get() == function) {
-            float v2 = ch.get_reversed()? (1-v) : v;
-            uint16_t pwm = ch.servo_min + v2 * (ch.servo_max - ch.servo_min);
-            ch.set_output_pwm(pwm);
+        SRV_Channel &c = channels[i];
+        if (c.function.get() == function) {
+            float v2 = c.get_reversed()? (1-v) : v;
+            uint16_t pwm = c.servo_min + v2 * (c.servo_max - c.servo_min);
+            c.set_output_pwm(pwm);
         }
     }
 }
@@ -618,21 +618,21 @@ void SRV_Channels::limit_slew_rate(SRV_Channel::Aux_servo_function_t function, f
         return;
     }
     for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
-        SRV_Channel &ch = channels[i];
-        if (ch.function == function) {
-            ch.calc_pwm(functions[function].output_scaled);
-            uint16_t last_pwm = hal.rcout->read_last_sent(ch.ch_num);
-            if (last_pwm == ch.output_pwm) {
+        SRV_Channel &c = channels[i];
+        if (c.function == function) {
+            c.calc_pwm(functions[function].output_scaled);
+            uint16_t last_pwm = hal.rcout->read_last_sent(c.ch_num);
+            if (last_pwm == c.output_pwm) {
                 continue;
             }
-            uint16_t max_change = (ch.get_output_max() - ch.get_output_min()) * slew_rate * dt * 0.01f;
+            uint16_t max_change = (c.get_output_max() - c.get_output_min()) * slew_rate * dt * 0.01f;
             if (max_change == 0 || dt > 1) {
                 // always allow some change. If dt > 1 then assume we
                 // are just starting out, and only allow a small
                 // change for this loop
                 max_change = 1;
             }
-            ch.output_pwm = constrain_int16(ch.output_pwm, last_pwm-max_change, last_pwm+max_change);
+            c.output_pwm = constrain_int16(c.output_pwm, last_pwm-max_change, last_pwm+max_change);
         }
     }
 }
@@ -672,9 +672,9 @@ void SRV_Channels::set_output_min_max(SRV_Channel::Aux_servo_function_t function
 void SRV_Channels::constrain_pwm(SRV_Channel::Aux_servo_function_t function)
 {
     for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
-        SRV_Channel &ch = channels[i];
-        if (ch.function == function) {
-            ch.output_pwm = constrain_int16(ch.output_pwm, ch.servo_min, ch.servo_max);
+        SRV_Channel &c = channels[i];
+        if (c.function == function) {
+            c.output_pwm = constrain_int16(c.output_pwm, c.servo_min, c.servo_max);
         }
     }
 }
@@ -863,9 +863,9 @@ void SRV_Channels::set_rc_frequency(SRV_Channel::Aux_servo_function_t function,
 {
     uint16_t mask = 0;
     for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
-        SRV_Channel &ch = channels[i];
-        if (ch.function == function) {
-            mask |= (1U<<ch.ch_num);
+        SRV_Channel &c = channels[i];
+        if (c.function == function) {
+            mask |= (1U<<c.ch_num);
         }
     }
     if (mask != 0) {