From 8e6a1a2b029063157bc924de802b4dc4087e5ce8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 12 Sep 2024 13:51:48 +1000
Subject: [PATCH] AP_Arming: retrieve RC channels directly from RC_Channels

... instead of retrieving values from rcmap and then getting the channel from RC_Channels
---
 libraries/AP_Arming/AP_Arming.cpp | 29 ++++++++++++++---------------
 1 file changed, 14 insertions(+), 15 deletions(-)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 76f8159804..a606a8be35 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -44,7 +44,6 @@
 #include <AP_Scripting/AP_Scripting.h>
 #include <AP_Camera/AP_RunCam.h>
 #include <AP_GyroFFT/AP_GyroFFT.h>
-#include <AP_RCMapper/AP_RCMapper.h>
 #include <AP_VisualOdom/AP_VisualOdom.h>
 #include <AP_Parachute/AP_Parachute.h>
 #include <AP_OSD/AP_OSD.h>
@@ -736,19 +735,21 @@ bool AP_Arming::rc_arm_checks(AP_Arming::Method method)
         check_failed(ARMING_CHECK_PARAMETERS, true, "Mode channel and RC%d_OPTION conflict", rc().flight_mode_channel_number());
         check_passed = false;
     }
-    const RCMapper * rcmap = AP::rcmap();
-    if (rcmap != nullptr) {
+    {
         if (!rc().option_is_enabled(RC_Channels::Option::ARMING_SKIP_CHECK_RPY)) {
-            const char *names[3] = {"Roll", "Pitch", "Yaw"};
-            const uint8_t channels[3] = {rcmap->roll(), rcmap->pitch(), rcmap->yaw()};
-            for (uint8_t i = 0; i < ARRAY_SIZE(channels); i++) {
-                const RC_Channel *c = rc().channel(channels[i] - 1);
-                if (c == nullptr) {
-                    continue;
-                }
+            const struct {
+                const char *name;
+                const RC_Channel *channel;
+            } channels_to_check[] {
+                { "Roll", &rc().get_roll_channel(), },
+                { "Pitch", &rc().get_pitch_channel(), },
+                { "Yaw", &rc().get_yaw_channel(), },
+            };
+            for (const auto &channel_to_check : channels_to_check) {
+                const auto *c = channel_to_check.channel;
                 if (c->get_control_in() != 0) {
                     if ((method != Method::RUDDER) || (c != rc().get_arming_channel())) { // ignore the yaw input channel if rudder arming
-                        check_failed(ARMING_CHECK_RC, true, "%s (RC%d) is not neutral", names[i], channels[i]);
+                        check_failed(ARMING_CHECK_RC, true, "%s (RC%d) is not neutral", channel_to_check.name, c->ch());
                         check_passed = false;
                     }
                 }
@@ -757,13 +758,11 @@ bool AP_Arming::rc_arm_checks(AP_Arming::Method method)
 
         // if throttle check is enabled, require zero input
         if (rc().arming_check_throttle()) {
-            RC_Channel *c = rc().channel(rcmap->throttle() - 1);
-            if (c != nullptr) {
+            const RC_Channel *c = &rc().get_throttle_channel();
                 if (c->get_control_in() != 0) {
-                    check_failed(ARMING_CHECK_RC, true, "Throttle (RC%d) is not neutral", rcmap->throttle());
+                    check_failed(ARMING_CHECK_RC, true, "%s (RC%d) is not neutral", "Throttle", c->ch());
                     check_passed = false;
                 }
-            }
             c = rc().find_channel_for_option(RC_Channel::AUX_FUNC::FWD_THR);
             if (c != nullptr) {
                 uint8_t fwd_thr = c->percent_input();