Plane: fixed remaining places where primary channel ordering was assumed

should now use rcmap for all inputs

ArduPlane/Attitude.pde

@@ -524,8 +524,8 @@ static void set_servos(void)
             channel_roll->radio_out                = channel_roll->radio_in;
             channel_pitch->radio_out               = channel_pitch->radio_in;
         } else {
-            channel_roll->radio_out                = hal.rcin->read(CH_ROLL);
-            channel_pitch->radio_out               = hal.rcin->read(CH_PITCH);
+            channel_roll->radio_out                = channel_roll->read();
+            channel_pitch->radio_out               = channel_pitch->read();
         }
         channel_throttle->radio_out    = channel_throttle->radio_in;
         channel_rudder->radio_out              = channel_rudder->radio_in;
@@ -700,10 +700,10 @@ static void set_servos(void)
 
     // send values to the PWM timers for output
     // ----------------------------------------
-    hal.rcout->write(CH_1, channel_roll->radio_out);     // send to Servos
-    hal.rcout->write(CH_2, channel_pitch->radio_out);     // send to Servos
-    hal.rcout->write(CH_3, channel_throttle->radio_out);     // send to Servos
-    hal.rcout->write(CH_4, channel_rudder->radio_out);     // send to Servos
+    channel_roll->output();
+    channel_pitch->output();
+    channel_throttle->output();
+    channel_rudder->output();
     // Route configurable aux. functions to their respective servos
     g.rc_5.output_ch(CH_5);
     g.rc_6.output_ch(CH_6);

ArduPlane/defines.h

@@ -48,12 +48,6 @@
 #define GPS_PROTOCOL_MTK19      6
 #define GPS_PROTOCOL_AUTO       7
 
-#define CH_ROLL CH_1
-#define CH_PITCH CH_2
-#define CH_THROTTLE CH_3
-#define CH_RUDDER CH_4
-#define CH_YAW CH_4
-
 // HIL enumerations. Note that HIL_MODE_ATTITUDE and HIL_MODE_SENSORS
 // are now the same thing, and are sensors based. The old define is
 // kept to allow old APM_Config.h headers to keep working

ArduPlane/failsafe.pde

@@ -39,21 +39,21 @@ void failsafe_check(uint32_t tnow)
         // pass RC inputs to outputs every 20ms
         last_timestamp = tnow;
         hal.rcin->clear_overrides();
-        channel_roll->radio_out     = hal.rcin->read(CH_1);
-        channel_pitch->radio_out    = hal.rcin->read(CH_2);
-        channel_throttle->radio_out = hal.rcin->read(CH_3);
-        channel_rudder->radio_out   = hal.rcin->read(CH_4);
+        channel_roll->radio_out     = channel_roll->read();
+        channel_pitch->radio_out    = channel_pitch->read();
+        channel_throttle->radio_out = channel_throttle->read();
+        channel_rudder->radio_out   = channel_rudder->read();
         if (g.vtail_output != MIXING_DISABLED) {
             channel_output_mixer(g.vtail_output, channel_pitch->radio_out, channel_rudder->radio_out);
         } else if (g.elevon_output != MIXING_DISABLED) {
             channel_output_mixer(g.elevon_output, channel_pitch->radio_out, channel_roll->radio_out);
         }
         if (!demoing_servos) {
-            servo_write(CH_1, channel_roll->radio_out);
+            channel_roll->output();
         }
-        servo_write(CH_2, channel_pitch->radio_out);
-        servo_write(CH_3, channel_throttle->radio_out);
-        servo_write(CH_4, channel_rudder->radio_out);
+        channel_pitch->output();
+        channel_throttle->output();
+        channel_rudder->output();
 
         RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_manual, true);
         RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_aileron_with_input, true);

ArduPlane/radio.pde

@@ -36,22 +36,16 @@ static void init_rc_in()
 
 static void init_rc_out()
 {
-    hal.rcout->enable_ch(CH_1);
-    hal.rcout->enable_ch(CH_2);
-    hal.rcout->enable_ch(CH_3);
-    hal.rcout->enable_ch(CH_4);
+    channel_roll->enable_out();
+    channel_pitch->enable_out();
+    channel_throttle->enable_out();
+    channel_rudder->enable_out();
     enable_aux_servos();
 
     // Initialization of servo outputs
-    servo_write(CH_1, channel_roll->radio_trim);
-    servo_write(CH_2,   channel_pitch->radio_trim);
-    servo_write(CH_3,   channel_throttle->radio_min);
-    servo_write(CH_4,   channel_rudder->radio_trim);
-
-    servo_write(CH_5,   g.rc_5.radio_trim);
-    servo_write(CH_6,   g.rc_6.radio_trim);
-    servo_write(CH_7,   g.rc_7.radio_trim);
-    servo_write(CH_8,   g.rc_8.radio_trim);
+    for (uint8_t i=0; i<8; i++) {
+        RC_Channel::rc_channel(i)->output_trim();
+    }
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4
     servo_write(CH_9,   g.rc_9.radio_trim);
@@ -65,8 +59,8 @@ static void init_rc_out()
 
 static void read_radio()
 {
-    elevon.ch1_temp = hal.rcin->read(CH_ROLL);
-    elevon.ch2_temp = hal.rcin->read(CH_PITCH);
+    elevon.ch1_temp = channel_roll->read();
+    elevon.ch2_temp = channel_pitch->read();
     uint16_t pwm_roll, pwm_pitch;
 
     if (g.mix_mode == 0) {
@@ -82,13 +76,13 @@ static void read_radio()
         // want manual pass through when not exceeding attitude limits
         channel_roll->set_pwm_no_deadzone(pwm_roll);
         channel_pitch->set_pwm_no_deadzone(pwm_pitch);
-        channel_throttle->set_pwm_no_deadzone(hal.rcin->read(CH_3));
-        channel_rudder->set_pwm_no_deadzone(hal.rcin->read(CH_4));
+        channel_throttle->set_pwm_no_deadzone(channel_throttle->read());
+        channel_rudder->set_pwm_no_deadzone(channel_rudder->read());
     } else {
         channel_roll->set_pwm(pwm_roll);
         channel_pitch->set_pwm(pwm_pitch);
-        channel_throttle->set_pwm(hal.rcin->read(CH_3));
-        channel_rudder->set_pwm(hal.rcin->read(CH_4));
+        channel_throttle->set_pwm(channel_throttle->read());
+        channel_rudder->set_pwm(channel_rudder->read());
     }
 
     g.rc_5.set_pwm(hal.rcin->read(CH_5));