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AP_ICEngine: use rc() method to get rc singleton

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Peter Barker 2018-04-26 21:59:46 +10:00 committed by Randy Mackay
parent 1eacd685e3
commit 80a4083fc7
1 changed files with 6 additions and 4 deletions
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10
libraries/AP_ICEngine/AP_ICEngine.cpp
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@ -124,9 +124,10 @@ void AP_ICEngine::update(void)
} }
uint16_t cvalue = 1500; uint16_t cvalue = 1500;
if (start_chan != 0) { RC_Channel *c = rc().channel(start_chan-1);
if (c != nullptr) {
// get starter control channel // get starter control channel
cvalue = RC_Channels::get_radio_in(start_chan-1); cvalue = c->get_radio_in();
} }
bool should_run = false; bool should_run = false;
@ -269,9 +270,10 @@ bool AP_ICEngine::engine_control(float start_control, float cold_start, float he
state = ICE_OFF; state = ICE_OFF;
return true; return true;
} }
if (start_chan != 0) { RC_Channel *c = rc().channel(start_chan-1);
if (c != nullptr) {
// get starter control channel // get starter control channel
if (RC_Channels::get_radio_in(start_chan-1) <= 1300) { if (c->get_radio_in() <= 1300) {
gcs().send_text(MAV_SEVERITY_INFO, "Engine: start control disabled"); gcs().send_text(MAV_SEVERITY_INFO, "Engine: start control disabled");
return false; return false;
} }