Sub: Clean up radio.cpp

ArduSub/Sub.h

@@ -672,7 +672,6 @@ private:
     float pv_get_bearing_cd(const Vector3f &origin, const Vector3f &destination);
     float pv_get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destination);
     float pv_distance_to_home_cm(const Vector3f &destination);
-    void default_dead_zones();
     void init_rc_in();
     void init_rc_out();
     void enable_motor_output();

ArduSub/motors.cpp

@@ -1,5 +1,13 @@
 #include "Sub.h"
 
+// enable_motor_output() - enable and output lowest possible value to motors
+void Sub::enable_motor_output()
+{
+    // enable motors
+    motors.enable();
+    motors.output_min();
+}
+
 // init_arm_motors - performs arming process including initialisation of barometer and gyros
 //  returns false if arming failed because of pre-arm checks, arming checks or a gyro calibration failure
 bool Sub::init_arm_motors(bool arming_from_gcs)

ArduSub/radio.cpp

@@ -1,19 +1,5 @@
 #include "Sub.h"
 
-
-// Function that will read the radio data, limit servos and trigger a failsafe
-// ----------------------------------------------------------------------------
-
-void Sub::default_dead_zones()
-{
-    channel_roll->set_default_dead_zone(30);
-    channel_pitch->set_default_dead_zone(30);
-    channel_throttle->set_default_dead_zone(30);
-    channel_yaw->set_default_dead_zone(40);
-    channel_forward->set_default_dead_zone(30);
-    channel_lateral->set_default_dead_zone(30);
-}
-
 void Sub::init_rc_in()
 {
     channel_pitch    = RC_Channels::rc_channel(0);
@@ -31,18 +17,13 @@ void Sub::init_rc_in()
     channel_forward->set_angle(ROLL_PITCH_INPUT_MAX);
     channel_lateral->set_angle(ROLL_PITCH_INPUT_MAX);
 
-    // force throttle trim to 1100
-    channel_throttle->set_radio_trim(1100);
-    channel_throttle->save_eeprom();
-
-    //set auxiliary servo ranges
-    //    g.rc_5.set_range(0,1000);
-    //    g.rc_6.set_range(0,1000);
-    //    g.rc_7.set_range(0,1000);
-    //    g.rc_8.set_range(0,1000);
-
     // set default dead zones
-    default_dead_zones();
+    channel_roll->set_default_dead_zone(30);
+    channel_pitch->set_default_dead_zone(30);
+    channel_throttle->set_default_dead_zone(30);
+    channel_yaw->set_default_dead_zone(40);
+    channel_forward->set_default_dead_zone(30);
+    channel_lateral->set_default_dead_zone(30);
 
 #if CONFIG_HAL_BOARD != HAL_BOARD_SITL
     // initialize rc input to 1500 on control channels (rather than 0)
@@ -68,11 +49,3 @@ void Sub::init_rc_out()
     // refresh auxiliary channel to function map
     SRV_Channels::update_aux_servo_function();
 }
-
-// enable_motor_output() - enable and output lowest possible value to motors
-void Sub::enable_motor_output()
-{
-    // enable motors
-    motors.enable();
-    motors.output_min();
-}