Moved update_aux_servo_function() to the RC_Channel_aux.* files.

This simplifies code sharing between ArduCopter and Arduplane at the expense of 48bytes.
Moved CH_x defines out of the defines.h file and into the library where they belong

ArduPlane/ArduPlane.pde

@@ -735,7 +735,7 @@ static void slow_loop()
 			// ----------------------------------
 			update_servo_switches();
 
-			update_aux_servo_function();
+			update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
 
 #if CAMERA == ENABLED
 			camera_mount.update_mount_type();

ArduPlane/defines.h

@@ -41,19 +41,6 @@
 #define GPS_PROTOCOL_MTK16	6
 #define GPS_PROTOCOL_AUTO	7
 
-// Radio channels
-// Note channels are from 0!
-//
-// XXX these should be CH_n defines from RC.h at some point.
-#define CH_1 0
-#define CH_2 1
-#define CH_3 2
-#define CH_4 3
-#define CH_5 4
-#define CH_6 5
-#define CH_7 6
-#define CH_8 7
-
 #define CH_ROLL CH_1
 #define CH_PITCH CH_2
 #define CH_THROTTLE CH_3

ArduPlane/radio.pde

@@ -195,7 +195,7 @@ 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] != NULL) g_rc_function[RC_Channel_aux::k_aileron]->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in;			// Second aileron channel
+		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
 		
 	}else{
 		elevon1_trim = ch1_temp;
@@ -212,7 +212,7 @@ 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] != NULL) g_rc_function[RC_Channel_aux::k_aileron]->save_eeprom();
+	if (g_rc_function[RC_Channel_aux::k_aileron]) g_rc_function[RC_Channel_aux::k_aileron]->save_eeprom();
 }
 
 static void trim_radio()
@@ -228,7 +228,7 @@ 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] != NULL) g_rc_function[RC_Channel_aux::k_aileron]->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in;			// Second aileron channel
+		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
 
 	} else {
 		elevon1_trim = ch1_temp;
@@ -244,30 +244,5 @@ 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] != NULL) g_rc_function[RC_Channel_aux::k_aileron]->save_eeprom();
-}
-
-// update the g_rc_function array from pointers to rc_x channels
-// This should be done periodically because the user might change the configuration and
-// expects the changes to take effect instantly
-static void update_aux_servo_function()
-{
-	// positions 0..3 of this array never get used, but this is a stack array, so the entire array gets freed at the end of the function
-	RC_Channel_aux::Aux_servo_function_t aux_servo_function[NUM_CHANNELS];			// the function of the aux. servos
-	aux_servo_function[CH_5] = (RC_Channel_aux::Aux_servo_function_t)g.rc_5.function.get();
-	aux_servo_function[CH_6] = (RC_Channel_aux::Aux_servo_function_t)g.rc_6.function.get();
-	aux_servo_function[CH_7] = (RC_Channel_aux::Aux_servo_function_t)g.rc_7.function.get();
-	aux_servo_function[CH_8] = (RC_Channel_aux::Aux_servo_function_t)g.rc_8.function.get();
-
-	// Assume that no auxiliary function is used
-	for (int i = 0; i < RC_Channel_aux::k_nr_aux_servo_functions ; i++)
-	{
-		g_rc_function[i] = NULL;
-	}
-
-	// assign the RC channel to each function
-	g_rc_function[aux_servo_function[CH_5]] = &g.rc_5;
-	g_rc_function[aux_servo_function[CH_6]] = &g.rc_6;
-	g_rc_function[aux_servo_function[CH_7]] = &g.rc_7;
-	g_rc_function[aux_servo_function[CH_8]] = &g.rc_8;
+	if (g_rc_function[RC_Channel_aux::k_aileron]) g_rc_function[RC_Channel_aux::k_aileron]->save_eeprom();
 }

libraries/APM_RC/APM_RC.h

@@ -5,6 +5,17 @@
 #define MIN_PULSEWIDTH 900
 #define MAX_PULSEWIDTH 2100
 
+// Radio channels
+// Note channels are from 0!
+#define CH_1 0
+#define CH_2 1
+#define CH_3 2
+#define CH_4 3
+#define CH_5 4
+#define CH_6 5
+#define CH_7 6
+#define CH_8 7
+
 #include <inttypes.h>
 
 class APM_RC_Class

libraries/RC_Channel/RC_Channel_aux.cpp

@@ -3,6 +3,8 @@
 #include <APM_RC.h>
 #include "RC_Channel_aux.h"
 
+extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions];	// the aux. servo ch. assigned to each function
+
 int16_t
 RC_Channel_aux::closest_limit(int16_t angle)
 {
@@ -67,3 +69,28 @@ RC_Channel_aux::output_ch(unsigned char ch_nr)
 
 	APM_RC.OutputCh(ch_nr, radio_out);
 }
+
+// update the g_rc_function array from pointers to rc_x channels
+// This should be done periodically because the user might change the configuration and
+// expects the changes to take effect instantly
+void update_aux_servo_function(RC_Channel_aux* rc_5, RC_Channel_aux* rc_6, RC_Channel_aux* rc_7, RC_Channel_aux* rc_8)
+{
+	// positions 0..3 of this array never get used, but this is a stack array, so the entire array gets freed at the end of the function
+	RC_Channel_aux::Aux_servo_function_t aux_servo_function[NUM_CHANNELS];			// the function of the aux. servos
+	aux_servo_function[CH_5] = (RC_Channel_aux::Aux_servo_function_t)rc_5->function.get();
+	aux_servo_function[CH_6] = (RC_Channel_aux::Aux_servo_function_t)rc_6->function.get();
+	aux_servo_function[CH_7] = (RC_Channel_aux::Aux_servo_function_t)rc_7->function.get();
+	aux_servo_function[CH_8] = (RC_Channel_aux::Aux_servo_function_t)rc_8->function.get();
+
+	// Assume that no auxiliary function is used
+	for (int i = 0; i < RC_Channel_aux::k_nr_aux_servo_functions ; i++)
+	{
+		g_rc_function[i] = NULL;
+	}
+
+	// assign the RC channel to each function
+	g_rc_function[aux_servo_function[CH_5]] = rc_5;
+	g_rc_function[aux_servo_function[CH_6]] = rc_6;
+	g_rc_function[aux_servo_function[CH_7]] = rc_7;
+	g_rc_function[aux_servo_function[CH_8]] = rc_8;
+}

libraries/RC_Channel/RC_Channel_aux.h

@@ -1,7 +1,7 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
 
 /// @file	RC_Channel_aux.h
-/// @brief	RC_Channel manager, with EEPROM-backed storage of constants.
+/// @brief	RC_Channel manager for Channels 5..8, with EEPROM-backed storage of constants.
 /// @author Amilcar Lucas
 
 #ifndef RC_CHANNEL_AUX_H_
@@ -53,4 +53,6 @@ public:
 
 };
 
+void update_aux_servo_function(RC_Channel_aux* rc_5, RC_Channel_aux* rc_6, RC_Channel_aux* rc_7, RC_Channel_aux* rc_8);
+
 #endif /* RC_CHANNEL_AUX_H_ */