From 5e726335fa5ab00376293901cb1b8418aa107fcb Mon Sep 17 00:00:00 2001
From: "james.goppert" <james.goppert@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Wed, 6 Apr 2011 01:19:03 +0000
Subject: [PATCH] Fixed rc channel.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1850 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 libraries/AP_RcChannel/AP_RcChannel.cpp | 6 ++----
 libraries/AP_RcChannel/AP_RcChannel.h   | 2 +-
 2 files changed, 3 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_RcChannel/AP_RcChannel.cpp b/libraries/AP_RcChannel/AP_RcChannel.cpp
index 1d0fef3bfb..689d8ab230 100644
--- a/libraries/AP_RcChannel/AP_RcChannel.cpp
+++ b/libraries/AP_RcChannel/AP_RcChannel.cpp
@@ -37,10 +37,8 @@ AP_RcChannel::AP_RcChannel(AP_Var::Key key, const prog_char_t * name, APM_RC_Cla
 	}
 
 
-void AP_RcChannel::readRadio() {
-	// apply reverse
-	uint16_t pwmRadio = _rc.InputCh(ch);
-	setPwm(pwmRadio);
+uint16_t AP_RcChannel::readRadio() {
+	return _rc.InputCh(ch);
 }
 
 void
diff --git a/libraries/AP_RcChannel/AP_RcChannel.h b/libraries/AP_RcChannel/AP_RcChannel.h
index 9b0522f669..5729c91cfd 100644
--- a/libraries/AP_RcChannel/AP_RcChannel.h
+++ b/libraries/AP_RcChannel/AP_RcChannel.h
@@ -37,7 +37,7 @@ public:
 	AP_Bool reverse;
 
 	// set
-	void readRadio();
+	uint16_t readRadio();
 	void setPwm(uint16_t pwm);
 	void setPosition(float position);
 	void setNormalized(float normPosition);