ArduCopter: move RC bits in mavlink to common code

Plane's semantics change to be like Copter. Rover, Sub and Tracker will start reporting the bits

ArduCopter/Attitude.cpp

@@ -60,7 +60,7 @@ void Copter::update_throttle_hover()
 float Copter::get_pilot_desired_climb_rate(float throttle_control)
 {
     // throttle failsafe check
-    if (failsafe.radio || !ap.rc_receiver_present) {
+    if (failsafe.radio || !rc().has_ever_seen_rc_input()) {
         return 0.0f;
     }
 

ArduCopter/Copter.h

@@ -374,7 +374,7 @@ private:
             uint8_t land_complete           : 1; // 7       // true if we have detected a landing
             uint8_t new_radio_frame         : 1; // 8       // Set true if we have new PWM data to act on from the Radio
             uint8_t usb_connected_unused    : 1; // 9       // UNUSED
-            uint8_t rc_receiver_present     : 1; // 10      // true if we have an rc receiver present (i.e. if we've ever received an update
+            uint8_t rc_receiver_present_unused : 1; // 10      // UNUSED
             uint8_t compass_mot             : 1; // 11      // true if we are currently performing compassmot calibration
             uint8_t motor_test              : 1; // 12      // true if we are currently performing the motors test
             uint8_t initialised             : 1; // 13      // true once the init_ardupilot function has completed.  Extended status to GCS is not sent until this completes

ArduCopter/GCS_Copter.cpp

@@ -42,16 +42,6 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
         MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
         MAV_SYS_STATUS_SENSOR_YAW_POSITION;
 
-    const Copter::ap_t &ap = copter.ap;
-
-    if (ap.rc_receiver_present) {
-        control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
-    }
-    if (ap.rc_receiver_present && !copter.failsafe.radio) {
-        control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
-    }
-
     // update flightmode-specific flags:
     control_sensors_present |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
     control_sensors_present |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;

ArduCopter/mode.cpp

@@ -472,7 +472,7 @@ void Copter::notify_flight_mode() {
 void Mode::get_pilot_desired_lean_angles(float &roll_out_cd, float &pitch_out_cd, float angle_max_cd, float angle_limit_cd) const
 {
     // throttle failsafe check
-    if (copter.failsafe.radio || !copter.ap.rc_receiver_present) {
+    if (copter.failsafe.radio || !rc().has_ever_seen_rc_input()) {
         roll_out_cd = 0.0;
         pitch_out_cd = 0.0;
         return;
@@ -494,7 +494,7 @@ Vector2f Mode::get_pilot_desired_velocity(float vel_max) const
     Vector2f vel;
 
     // throttle failsafe check
-    if (copter.failsafe.radio || !copter.ap.rc_receiver_present) {
+    if (copter.failsafe.radio || !rc().has_ever_seen_rc_input()) {
         return vel;
     }
     // fetch roll and pitch inputs
@@ -1013,7 +1013,7 @@ Mode::AltHoldModeState Mode::get_alt_hold_state(float target_climb_rate_cms)
 float Mode::get_pilot_desired_yaw_rate(float yaw_in)
 {
     // throttle failsafe check
-    if (copter.failsafe.radio || !copter.ap.rc_receiver_present) {
+    if (copter.failsafe.radio || !rc().has_ever_seen_rc_input()) {
         return 0.0f;
     }
 

ArduCopter/mode_turtle.cpp

@@ -113,7 +113,7 @@ void ModeTurtle::change_motor_direction(bool reverse)
 void ModeTurtle::run()
 {
     const float flip_power_factor = 1.0f - CRASH_FLIP_EXPO * 0.01f;
-    const bool norc = copter.failsafe.radio || !copter.ap.rc_receiver_present;
+    const bool norc = copter.failsafe.radio || !rc().has_ever_seen_rc_input();
     const float stick_deflection_pitch = norc ? 0.0f : channel_pitch->norm_input_dz();
     const float stick_deflection_roll = norc ? 0.0f : channel_roll->norm_input_dz();
     const float stick_deflection_yaw = norc ? 0.0f : channel_yaw->norm_input_dz();

ArduCopter/radio.cpp

@@ -87,9 +87,6 @@ void Copter::read_radio()
         set_throttle_and_failsafe(channel_throttle->get_radio_in());
         set_throttle_zero_flag(channel_throttle->get_control_in());
 
-        // RC receiver must be attached if we've just got input
-        ap.rc_receiver_present = true;
-
         // pass pilot input through to motors (used to allow wiggling servos while disarmed on heli, single, coax copters)
         radio_passthrough_to_motors();
 
@@ -115,7 +112,7 @@ void Copter::read_radio()
         // throttle failsafe not enabled
         return;
     }
-    if (!ap.rc_receiver_present && !motors->armed()) {
+    if (!rc().has_ever_seen_rc_input() && !motors->armed()) {
         // we only failsafe if we are armed OR we have ever seen an RC receiver
         return;
     }
@@ -137,7 +134,7 @@ void Copter::set_throttle_and_failsafe(uint16_t throttle_pwm)
     if (throttle_pwm < (uint16_t)g.failsafe_throttle_value) {
 
         // if we are already in failsafe or motors not armed pass through throttle and exit
-        if (failsafe.radio || !(ap.rc_receiver_present || motors->armed())) {
+        if (failsafe.radio || !(rc().has_ever_seen_rc_input() || motors->armed())) {
             return;
         }