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RC_Channel: remove old members objects

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This commit is contained in:
Peter Barker 2018-08-02 21:41:07 +10:00 committed by Peter Barker
parent dab93750a0
commit ff36eb3aca
2 changed files with 6 additions and 7 deletions
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1
libraries/RC_Channel/RC_Channel.h
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@ -327,7 +327,6 @@ private:
static bool has_new_overrides; static bool has_new_overrides;
static AP_Float *override_timeout; static AP_Float *override_timeout;
static AP_Int32 *options; static AP_Int32 *options;
RC_Channel obj_channels[NUM_RC_CHANNELS];
AP_Float _override_timeout; AP_Float _override_timeout;
AP_Int32 _options; AP_Int32 _options;

12
libraries/RC_Channel/RC_Channels.cpp
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@ -28,7 +28,6 @@ extern const AP_HAL::HAL& hal;
#include "RC_Channel.h" #include "RC_Channel.h"
RC_Channel *RC_Channels::channels;
bool RC_Channels::has_new_overrides; bool RC_Channels::has_new_overrides;
AP_Float *RC_Channels::override_timeout; AP_Float *RC_Channels::override_timeout;
AP_Int32 *RC_Channels::options; AP_Int32 *RC_Channels::options;
@ -38,8 +37,6 @@ AP_Int32 *RC_Channels::options;
*/ */
RC_Channels::RC_Channels(void) RC_Channels::RC_Channels(void)
{ {
channels = obj_channels;
override_timeout = &_override_timeout; override_timeout = &_override_timeout;
options = &_options; options = &_options;
@ -106,8 +103,9 @@ int16_t RC_Channels::get_receiver_rssi(void)
void RC_Channels::clear_overrides(void) void RC_Channels::clear_overrides(void)
{ {
RC_Channels &_rc = rc();
for (uint8_t i = 0; i < NUM_RC_CHANNELS; i++) { for (uint8_t i = 0; i < NUM_RC_CHANNELS; i++) {
channels[i].clear_override(); _rc.channel(i)->clear_override();
} }
// we really should set has_new_overrides to true, and rerun read_input from // we really should set has_new_overrides to true, and rerun read_input from
// the vehicle code however doing so currently breaks the failsafe system on // the vehicle code however doing so currently breaks the failsafe system on
@ -116,16 +114,18 @@ void RC_Channels::clear_overrides(void)
void RC_Channels::set_override(const uint8_t chan, const int16_t value, const uint32_t timestamp_ms) void RC_Channels::set_override(const uint8_t chan, const int16_t value, const uint32_t timestamp_ms)
{ {
RC_Channels &_rc = rc();
if (chan < NUM_RC_CHANNELS) { if (chan < NUM_RC_CHANNELS) {
channels[chan].set_override(value, timestamp_ms); _rc.channel(chan)->set_override(value, timestamp_ms);
has_new_overrides = true; has_new_overrides = true;
} }
} }
bool RC_Channels::has_active_overrides() bool RC_Channels::has_active_overrides()
{ {
RC_Channels &_rc = rc();
for (uint8_t i = 0; i < NUM_RC_CHANNELS; i++) { for (uint8_t i = 0; i < NUM_RC_CHANNELS; i++) {
if (channels[i].has_override()) { if (_rc.channel(i)->has_override()) {
return true; return true;
} }
} }