AP_Proximity: Change from method reference to macro

libraries/AP_Proximity/AP_Proximity_TeraRangerTower.cpp

@@ -98,23 +98,14 @@ bool AP_Proximity_TeraRangerTower::read_sensor_data()
 
             // check if message has right CRC
             if (crc_crc8(buffer, 18) == buffer[18]){
-                uint16_t d1 = process_distance(buffer[2], buffer[3]);
-                uint16_t d2 = process_distance(buffer[4], buffer[5]);
-                uint16_t d3 = process_distance(buffer[6], buffer[7]);
-                uint16_t d4 = process_distance(buffer[8], buffer[9]);
-                uint16_t d5 = process_distance(buffer[10], buffer[11]);
-                uint16_t d6 = process_distance(buffer[12], buffer[13]);
-                uint16_t d7 = process_distance(buffer[14], buffer[15]);
-                uint16_t d8 = process_distance(buffer[16], buffer[17]);
-
-                update_sector_data(0, d1);
-                update_sector_data(45, d8);
-                update_sector_data(90, d7);
-                update_sector_data(135, d6);
-                update_sector_data(180, d5);
-                update_sector_data(225, d4);
-                update_sector_data(270, d3);
-                update_sector_data(315, d2);
+                update_sector_data(0,   UINT16_VALUE(buffer[2],  buffer[3]));   // d1
+                update_sector_data(45,  UINT16_VALUE(buffer[16], buffer[17]));  // d8
+                update_sector_data(90,  UINT16_VALUE(buffer[14], buffer[15]));  // d7
+                update_sector_data(135, UINT16_VALUE(buffer[12], buffer[13]));  // d6
+                update_sector_data(180, UINT16_VALUE(buffer[10], buffer[11]));  // d5
+                update_sector_data(225, UINT16_VALUE(buffer[8],  buffer[9]));   // d4
+                update_sector_data(270, UINT16_VALUE(buffer[6],  buffer[7]));   // d3
+                update_sector_data(315, UINT16_VALUE(buffer[4],  buffer[5]));   // d2
 
                 message_count++;
             }
@@ -123,11 +114,6 @@ bool AP_Proximity_TeraRangerTower::read_sensor_data()
     return (message_count > 0);
 }
 
-uint16_t AP_Proximity_TeraRangerTower::process_distance(uint8_t buf1, uint8_t buf2)
-{
-    return (buf1 << 8) + buf2;
-}
-
 // process reply
 void AP_Proximity_TeraRangerTower::update_sector_data(int16_t angle_deg, uint16_t distance_cm)
 {

libraries/AP_Proximity/AP_Proximity_TeraRangerTower.h

@@ -27,7 +27,6 @@ private:
     // check and process replies from sensor
     bool read_sensor_data();
     void update_sector_data(int16_t angle_deg, uint16_t distance_cm);
-    uint16_t process_distance(uint8_t buf1, uint8_t buf2);
 
     // reply related variables
     AP_HAL::UARTDriver *uart = nullptr;

libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp

@@ -150,24 +150,14 @@ bool AP_Proximity_TeraRangerTowerEvo::read_sensor_data()
 
             //check if message has right CRC
             if (crc_crc8(buffer, 19) == buffer[19]){
-
-                uint16_t d1 = process_distance(buffer[2], buffer[3]);
-                uint16_t d2 = process_distance(buffer[4], buffer[5]);
-                uint16_t d3 = process_distance(buffer[6], buffer[7]);
-                uint16_t d4 = process_distance(buffer[8], buffer[9]);
-                uint16_t d5 = process_distance(buffer[10], buffer[11]);
-                uint16_t d6 = process_distance(buffer[12], buffer[13]);
-                uint16_t d7 = process_distance(buffer[14], buffer[15]);
-                uint16_t d8 = process_distance(buffer[16], buffer[17]);
-
-                update_sector_data(0, d1);
-                update_sector_data(45, d2);
-                update_sector_data(90, d3);
-                update_sector_data(135, d4);
-                update_sector_data(180, d5);
-                update_sector_data(225, d6);
-                update_sector_data(270, d7);
-                update_sector_data(315, d8);
+                update_sector_data(0,   UINT16_VALUE(buffer[2],  buffer[3]));   // d1
+                update_sector_data(45,  UINT16_VALUE(buffer[4],  buffer[5]));   // d2
+                update_sector_data(90,  UINT16_VALUE(buffer[6],  buffer[7]));   // d3
+                update_sector_data(135, UINT16_VALUE(buffer[8],  buffer[9]));   // d4
+                update_sector_data(180, UINT16_VALUE(buffer[10], buffer[11]));  // d5
+                update_sector_data(225, UINT16_VALUE(buffer[12], buffer[13]));  // d6
+                update_sector_data(270, UINT16_VALUE(buffer[14], buffer[15]));  // d7
+                update_sector_data(315, UINT16_VALUE(buffer[16], buffer[17]));  // d8
 
                 message_count++;
             }
@@ -176,11 +166,6 @@ bool AP_Proximity_TeraRangerTowerEvo::read_sensor_data()
     return (message_count > 0);
 }
 
-uint16_t AP_Proximity_TeraRangerTowerEvo::process_distance(uint8_t buf1, uint8_t buf2)
-{
-    return (buf1 << 8) + buf2;
-}
-
 // process reply
 void AP_Proximity_TeraRangerTowerEvo::update_sector_data(int16_t angle_deg, uint16_t distance_cm)
 {

libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.h

@@ -27,7 +27,6 @@ private:
     void initialise_modes();
     bool read_sensor_data();
     void update_sector_data(int16_t angle_deg, uint16_t distance_cm);
-    uint16_t process_distance(uint8_t buf1, uint8_t buf2);
     void set_mode(const uint8_t *c, int length);
 
     enum InitState {