From f4c93dc69721037b878b7bbfd898a01de7e36fd7 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 26 Apr 2018 22:00:30 +1000 Subject: [PATCH] DataFlash: use rc() method to get rc singleton --- libraries/DataFlash/LogFile.cpp | 30 ++++++++++++++++-------------- 1 file changed, 16 insertions(+), 14 deletions(-) diff --git a/libraries/DataFlash/LogFile.cpp b/libraries/DataFlash/LogFile.cpp index 38c8bc53d8..daaa835481 100644 --- a/libraries/DataFlash/LogFile.cpp +++ b/libraries/DataFlash/LogFile.cpp @@ -198,23 +198,25 @@ void DataFlash_Class::Log_Write_RFND(const RangeFinder &rangefinder) // Write an RCIN packet void DataFlash_Class::Log_Write_RCIN(void) { + uint16_t values[16] = {}; + rc().get_radio_in(values, 14); struct log_RCIN pkt = { LOG_PACKET_HEADER_INIT(LOG_RCIN_MSG), time_us : AP_HAL::micros64(), - chan1 : RC_Channels::get_radio_in(0), - chan2 : RC_Channels::get_radio_in(1), - chan3 : RC_Channels::get_radio_in(2), - chan4 : RC_Channels::get_radio_in(3), - chan5 : RC_Channels::get_radio_in(4), - chan6 : RC_Channels::get_radio_in(5), - chan7 : RC_Channels::get_radio_in(6), - chan8 : RC_Channels::get_radio_in(7), - chan9 : RC_Channels::get_radio_in(8), - chan10 : RC_Channels::get_radio_in(9), - chan11 : RC_Channels::get_radio_in(10), - chan12 : RC_Channels::get_radio_in(11), - chan13 : RC_Channels::get_radio_in(12), - chan14 : RC_Channels::get_radio_in(13) + chan1 : values[0], + chan2 : values[1], + chan3 : values[2], + chan4 : values[3], + chan5 : values[4], + chan6 : values[5], + chan7 : values[6], + chan8 : values[7], + chan9 : values[8], + chan10 : values[9], + chan11 : values[10], + chan12 : values[11], + chan13 : values[12], + chan14 : values[13] }; WriteBlock(&pkt, sizeof(pkt)); }