Moved a function from radio.pde to the RC_Channel_aux library. Now its more readable and reusable

ArduPlane/Attitude.pde

@@ -339,10 +339,10 @@ static void set_servos(void)
 	APM_RC.OutputCh(CH_3, g.channel_throttle.radio_out); // send to Servos
 	APM_RC.OutputCh(CH_4, g.channel_rudder.radio_out); // send to Servos
 	// Route configurable aux. functions to their respective servos
-	aux_servo_out(&g.rc_5, CH_5);
+	g.rc_5.output_ch(CH_5);
-	aux_servo_out(&g.rc_6, CH_6);
+	g.rc_6.output_ch(CH_6);
-	aux_servo_out(&g.rc_7, CH_7);
+	g.rc_7.output_ch(CH_7);
-	aux_servo_out(&g.rc_8, CH_8);
+	g.rc_8.output_ch(CH_8);
 #endif
  }
 

ArduPlane/radio.pde

@@ -247,34 +247,6 @@ static void trim_radio()
 	if (g_rc_function[RC_Channel_aux::k_aileron] != NULL) g_rc_function[RC_Channel_aux::k_aileron]->save_eeprom();
 }
 
-// map a function to a servo channel
-static void aux_servo_out(RC_Channel_aux* ch, unsigned char ch_nr)
-{
-	switch(ch->function)
-	{
-	case RC_Channel_aux::k_none: // disabled
-		return;
-		break;
-	case RC_Channel_aux::k_mount_yaw:	// mount yaw (pan)
-	case RC_Channel_aux::k_mount_pitch:	// mount pitch (tilt)
-	case RC_Channel_aux::k_mount_roll:	// mount roll
-	case RC_Channel_aux::k_cam_trigger:	// camera trigger
-	case RC_Channel_aux::k_cam_open:	// camera open
-	case RC_Channel_aux::k_flap:		// flaps
-	case RC_Channel_aux::k_flap_auto:	// flaps automated
-	case RC_Channel_aux::k_aileron:		// aileron
-	case RC_Channel_aux::k_flaperon:	// flaperon (flaps and aileron combined, needs two independent servos one for each wing)
-	case RC_Channel_aux::k_egg_drop:	// egg drop
-	case RC_Channel_aux::k_nr_aux_servo_functions: // dummy, just to avoid a compiler warning
-		break;
-	case RC_Channel_aux::k_manual:		// manual
-		ch->radio_out = ch->radio_in;
-		break;
-	}
-
-	APM_RC.OutputCh(ch_nr, ch->radio_out);
-}
-
 // update the g_rc_function array from pointers to rc_x channels
 static void update_aux_servo_function()
 {

libraries/RC_Channel/RC_Channel.cpp

@@ -11,6 +11,7 @@
 
 #include <math.h>
 #include <avr/eeprom.h>
+#include <APM_RC.h>
 #include "WProgram.h"
 #include "RC_Channel.h"
 
@@ -253,3 +254,32 @@ RC_Channel_aux::closest_limit(int16_t angle)
 
 	return angle;
 }
+
+// map a function to a servo channel and output it
+void
+RC_Channel_aux::output_ch(unsigned char ch_nr)
+{
+	switch(function)
+	{
+	case k_none: 		// disabled
+		return;
+		break;
+	case k_mount_yaw:	// mount yaw (pan)
+	case k_mount_pitch:	// mount pitch (tilt)
+	case k_mount_roll:	// mount roll
+	case k_cam_trigger:	// camera trigger
+	case k_cam_open:	// camera open
+	case k_flap:		// flaps
+	case k_flap_auto:	// flaps automated
+	case k_aileron:		// aileron
+	case k_flaperon:	// flaperon (flaps and aileron combined, needs two independent servos one for each wing)
+	case k_egg_drop:	// egg drop
+	case k_nr_aux_servo_functions: // dummy, just to avoid a compiler warning
+		break;
+	case k_manual:		// manual
+		radio_out = radio_in;
+		break;
+	}
+
+	APM_RC.OutputCh(ch_nr, radio_out);
+}

libraries/RC_Channel/RC_Channel.h

@@ -144,6 +144,9 @@ public:
 	AP_Int16 	angle_max;	// max angle limit of actuated surface in 0.01 degree units
 
 	int16_t closest_limit(int16_t angle);	// saturate to the closest angle limit if outside of min max angle interval
+
+	void output_ch(unsigned char ch_nr);	// map a function to a servo channel and output it
+
 };
 
 #endif