Use G_RC_AUX macro to simplify accessing the auxiliary servos

ArduPlane/radio.pde

@@ -23,46 +23,26 @@ static void init_rc_in()
 	g.channel_throttle.dead_zone = 6;
 
 	//set auxiliary ranges
-	if (g_rc_function[RC_Channel_aux::k_flap]) {
-		g_rc_function[RC_Channel_aux::k_flap]->set_range(0,100);
-	}
-	if (g_rc_function[RC_Channel_aux::k_flap_auto]) {
-		g_rc_function[RC_Channel_aux::k_flap_auto]->set_range(0,100);
-	}
-	if (g_rc_function[RC_Channel_aux::k_aileron]) {
-		g_rc_function[RC_Channel_aux::k_aileron]->set_angle(SERVO_MAX);
-	}
-	if (g_rc_function[RC_Channel_aux::k_flaperon]) {
-		g_rc_function[RC_Channel_aux::k_flaperon]->set_range(0,100);
-	}
+	G_RC_AUX(k_flap)->set_range(0,100);
+	G_RC_AUX(k_flap_auto)->set_range(0,100);
+	G_RC_AUX(k_aileron)->set_angle(SERVO_MAX);
+	G_RC_AUX(k_flaperon)->set_range(0,100);
 #if CAMERA == ENABLED
-	if (g_rc_function[RC_Channel_aux::k_mount_yaw]) {
-		g_rc_function[RC_Channel_aux::k_mount_yaw]->set_range(
+	G_RC_AUX(k_mount_yaw)->set_range(
 				g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_min / 10,
 				g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_max / 10);
-	}
-	if (g_rc_function[RC_Channel_aux::k_mount_pitch]) {
-		g_rc_function[RC_Channel_aux::k_mount_pitch]->set_range(
+	G_RC_AUX(k_mount_pitch)->set_range(
 				g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_min / 10,
 				g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_max / 10);
-	}
-	if (g_rc_function[RC_Channel_aux::k_mount_roll]) {
-		g_rc_function[RC_Channel_aux::k_mount_roll]->set_range(
+	G_RC_AUX(k_mount_roll)->set_range(
 				g_rc_function[RC_Channel_aux::k_mount_roll]->angle_min / 10,
 				g_rc_function[RC_Channel_aux::k_mount_roll]->angle_max / 10);
-	}
-	if (g_rc_function[RC_Channel_aux::k_cam_trigger]) {
-		g_rc_function[RC_Channel_aux::k_cam_trigger]->set_range(
+	G_RC_AUX(k_cam_trigger)->set_range(
 				g_rc_function[RC_Channel_aux::k_cam_trigger]->angle_min / 10,
 				g_rc_function[RC_Channel_aux::k_cam_trigger]->angle_max / 10);
-	}
-	if (g_rc_function[RC_Channel_aux::k_cam_open]) {
-		g_rc_function[RC_Channel_aux::k_cam_open]->set_range(0,100);
-	}
+	G_RC_AUX(k_cam_open)->set_range(0,100);
 #endif
-	if (g_rc_function[RC_Channel_aux::k_egg_drop]) {
-		g_rc_function[RC_Channel_aux::k_egg_drop]->set_range(0,100);
-	}
+	G_RC_AUX(k_egg_drop)->set_range(0,100);
 }
 
 static void init_rc_out()
@@ -195,7 +175,7 @@ static void trim_control_surfaces()
 		g.channel_roll.radio_trim = g.channel_roll.radio_in;
 		g.channel_pitch.radio_trim = g.channel_pitch.radio_in;
 		g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
-		if (g_rc_function[RC_Channel_aux::k_aileron]) g_rc_function[RC_Channel_aux::k_aileron]->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in;			// Second aileron channel
+		G_RC_AUX(k_aileron)->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in;			// Second aileron channel
 		
 	}else{
 		elevon1_trim = ch1_temp;
@@ -212,7 +192,7 @@ static void trim_control_surfaces()
 	g.channel_pitch.save_eeprom();
 	g.channel_throttle.save_eeprom();
 	g.channel_rudder.save_eeprom();
-	if (g_rc_function[RC_Channel_aux::k_aileron]) g_rc_function[RC_Channel_aux::k_aileron]->save_eeprom();
+	G_RC_AUX(k_aileron)->save_eeprom();
 }
 
 static void trim_radio()
@@ -228,7 +208,7 @@ static void trim_radio()
 		g.channel_pitch.radio_trim 		= g.channel_pitch.radio_in;
 		//g.channel_throttle.radio_trim 	= g.channel_throttle.radio_in;
 		g.channel_rudder.radio_trim 	= g.channel_rudder.radio_in;
-		if (g_rc_function[RC_Channel_aux::k_aileron]) g_rc_function[RC_Channel_aux::k_aileron]->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in;			// Second aileron channel
+		G_RC_AUX(k_aileron)->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in;			// Second aileron channel
 
 	} else {
 		elevon1_trim = ch1_temp;
@@ -244,5 +224,5 @@ static void trim_radio()
 	g.channel_pitch.save_eeprom();
 	//g.channel_throttle.save_eeprom();
 	g.channel_rudder.save_eeprom();
-	if (g_rc_function[RC_Channel_aux::k_aileron]) g_rc_function[RC_Channel_aux::k_aileron]->save_eeprom();
+	G_RC_AUX(k_aileron)->save_eeprom();
 }

libraries/AP_Camera/AP_Camera.cpp

@@ -98,10 +98,7 @@ AP_Camera::trigger_pic_cleanup()
 		case 0:
 		case 2:
 		case 3:
-			if (g_rc_function[RC_Channel_aux::k_cam_trigger])
-			{
-				g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_out = g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_min;
-			}
+			G_RC_AUX(k_cam_trigger)->radio_out = g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_min;
 			break;
 		case 1:
 			// TODO for some strange reason the function call bellow gives a linker error

libraries/AP_DCM/AP_DCM.h

@@ -1,7 +1,7 @@
 #ifndef AP_DCM_h
 #define AP_DCM_h
 
-// teporarily include all other classes here
+// temporarily include all other classes here
 // since this naming is a bit off from the
 // convention and the AP_DCM should be the top
 // header file

libraries/AP_Mount/AP_Mount.cpp

@@ -156,12 +156,9 @@ void AP_Mount::update_mount()
 
 	// write the results to the servos
 	// Change scaling to 0.1 degrees in order to avoid overflows in the angle arithmetic
-	if (g_rc_function[RC_Channel_aux::k_mount_roll])
-		g_rc_function[RC_Channel_aux::k_mount_roll]->closest_limit(roll_angle/10);
-	if (g_rc_function[RC_Channel_aux::k_mount_pitch])
-		g_rc_function[RC_Channel_aux::k_mount_pitch]->closest_limit(pitch_angle/10);
-	if (g_rc_function[RC_Channel_aux::k_mount_yaw])
-		g_rc_function[RC_Channel_aux::k_mount_yaw]->closest_limit(yaw_angle/10);
+	G_RC_AUX(k_mount_roll)->closest_limit(roll_angle/10);
+	G_RC_AUX(k_mount_pitch)->closest_limit(pitch_angle/10);
+	G_RC_AUX(k_mount_yaw)->closest_limit(yaw_angle/10);
 }	
 
 void AP_Mount::set_mode(MountMode mode)

libraries/RC_Channel/RC_Channel.h

@@ -102,6 +102,7 @@ class RC_Channel{
 	int16_t 	_low;
 };
 
+// This is ugly, but it fixes compilation on arduino
 #include "RC_Channel_aux.h"
 
 #endif

libraries/RC_Channel/RC_Channel_aux.h

@@ -9,6 +9,9 @@
 
 #include "RC_Channel.h"
 
+// Macro to simplify accessing the auxiliary servos
+#define G_RC_AUX(_t)   if (g_rc_function[RC_Channel_aux::_t]) g_rc_function[RC_Channel_aux::_t]
+
 /// @class	RC_Channel_aux
 /// @brief	Object managing one aux. RC channel (CH5-8), with information about its function
 /// 	    Also contains physical min,max angular deflection, to allow calibrating open-loop servo movements