Copter: move handling of disable-gcs-rc-overrides-channel-option up

ArduCopter/Copter.h

@@ -342,7 +342,7 @@ private:
             uint8_t in_arming_delay         : 1; // 24      // true while we are armed but waiting to spin motors
             uint8_t initialised_params      : 1; // 25      // true when the all parameters have been initialised. we cannot send parameters to the GCS until this is done
             uint8_t compass_init_location   : 1; // 26      // true when the compass's initial location has been set
-            uint8_t rc_override_enable      : 1; // 27      // aux switch rc_override is allowed
+            uint8_t unused2                 : 1; // 27      // aux switch rc_override is allowed
             uint8_t armed_with_switch       : 1; // 28      // we armed using a arming switch
         };
         uint32_t value;

ArduCopter/GCS_Mavlink.cpp

@@ -1052,7 +1052,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
         if(msg->sysid != copter.g.sysid_my_gcs) {
             break; // Only accept control from our gcs
         }
-        if (!copter.ap.rc_override_enable) {
+        if (!rc().gcs_overrides_enabled()) {
             if (copter.failsafe.rc_override_active) {  // if overrides were active previously, disable them
                 copter.failsafe.rc_override_active = false;
                 RC_Channels::clear_overrides();

ArduCopter/RC_Channel.cpp

@@ -81,7 +81,6 @@ void RC_Channel_Copter::init_aux_function(const aux_func_t ch_option, const aux_
     case AVOID_PROXIMITY:
     case INVERTED:
     case WINCH_ENABLE:
-    case RC_OVERRIDE_ENABLE:
         do_aux_function(ch_option, ch_flag);
         break;
     // the following functions do not need to be initialised:
@@ -512,23 +511,6 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
 #endif
             break;
 
-        case RC_OVERRIDE_ENABLE:
-            // Allow or disallow RC_Override
-            switch (ch_flag) {
-                case HIGH: {
-                    copter.ap.rc_override_enable = true;
-                    break;
-                }
-                case MIDDLE:
-                    // nothing
-                    break;
-                case LOW: {
-                    copter.ap.rc_override_enable = false;
-                    break;
-                }
-            }
-            break;
-            
 #ifdef USERHOOK_AUXSWITCH
         case USER_FUNC1:
             userhook_auxSwitch1(ch_flag);

ArduCopter/radio.cpp

@@ -43,9 +43,6 @@ void Copter::init_rc_in()
 
     // initialise throttle_zero flag
     ap.throttle_zero = true;
-
-    // Allow override by default at start
-    ap.rc_override_enable = true;
 }
 
  // init_rc_out -- initialise motors and check if pilot wants to perform ESC calibration

ArduCopter/system.cpp

@@ -275,9 +275,6 @@ void Copter::init_ardupilot()
     // disable safety if requested
     BoardConfig.init_safety();
 
-    // default enable RC override
-    copter.ap.rc_override_enable = true;
-    
     hal.console->printf("\nReady to FLY ");
 
     // flag that initialisation has completed