Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

DataFlash: use rc() method to get rc singleton

This commit is contained in:
Peter Barker 2018-04-26 22:00:30 +10:00 committed by Randy Mackay
parent c209152d13
commit f4c93dc697
1 changed files with 16 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
libraries/DataFlash/LogFile.cpp
View File

@ -198,23 +198,25 @@ void DataFlash_Class::Log_Write_RFND(const RangeFinder &rangefinder)
// Write an RCIN packet
void DataFlash_Class::Log_Write_RCIN(void)
{
uint16_t values[16] = {};
rc().get_radio_in(values, 14);
struct log_RCIN pkt = {
LOG_PACKET_HEADER_INIT(LOG_RCIN_MSG),
time_us : AP_HAL::micros64(),
chan1 : RC_Channels::get_radio_in(0),
chan2 : RC_Channels::get_radio_in(1),
chan3 : RC_Channels::get_radio_in(2),
chan4 : RC_Channels::get_radio_in(3),
chan5 : RC_Channels::get_radio_in(4),
chan6 : RC_Channels::get_radio_in(5),
chan7 : RC_Channels::get_radio_in(6),
chan8 : RC_Channels::get_radio_in(7),
chan9 : RC_Channels::get_radio_in(8),
chan10 : RC_Channels::get_radio_in(9),
chan11 : RC_Channels::get_radio_in(10),
chan12 : RC_Channels::get_radio_in(11),
chan13 : RC_Channels::get_radio_in(12),
chan14 : RC_Channels::get_radio_in(13)
chan1 : values[0],
chan2 : values[1],
chan3 : values[2],
chan4 : values[3],
chan5 : values[4],
chan6 : values[5],
chan7 : values[6],
chan8 : values[7],
chan9 : values[8],
chan10 : values[9],
chan11 : values[10],
chan12 : values[11],
chan13 : values[12],
chan14 : values[13]
};
WriteBlock(&pkt, sizeof(pkt));
}