MAVLink receiver: Clean up joystick interface

src/modules/mavlink/mavlink_receiver.cpp

@@ -990,8 +990,8 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
 switch_pos_t
 MavlinkReceiver::decode_switch_pos(uint16_t buttons, unsigned sw)
 {
-	// XXX non-standard 3 pos switch decoding
-	return (buttons >> (sw * 2)) & 3;
+	// This 2-bit method should be used in the future: (buttons >> (sw * 2)) & 3;
+	return (buttons & (1 << sw));
 }
 
 int
@@ -1101,26 +1101,10 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 		rc.values[0] = man.x / 2 + 1500;
 		/* pitch */
 		rc.values[1] = man.y / 2 + 1500;
-
-		/*
-		 * yaw needs special handling as some joysticks have a circular mechanical mask,
-		 * which makes the corner positions unreachable.
-		 * scale yaw up and clip it to overcome this.
-		 */
-		rc.values[2] = man.r / 1.1f + 1500;
-		if (rc.values[2] > 2000) {
-			rc.values[2] = 2000;
-		} else if (rc.values[2] < 1000) {
-			rc.values[2] = 1000;
-		}
-
+		/* yaw */
+		rc.values[2] = man.r / 2 + 1500;
 		/* throttle */
-		rc.values[3] = man.z / 0.9f + 1000;
-		if (rc.values[3] > 2000) {
-			rc.values[3] = 2000;
-		} else if (rc.values[3] < 1000) {
-			rc.values[3] = 1000;
-		}
+		rc.values[3] = man.z / 2 + 1000;
 
 		/* decode all switches which fit into the channel mask */
 		unsigned max_switch = (sizeof(man.buttons) * 8);