Sub: Remove the usage of RC_Channels::set_overrides()

ArduSub/joystick.cpp

@@ -53,8 +53,6 @@ void Sub::init_joystick()
 void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons)
 {
 
-    int16_t channels[11];
-
     float rpyScale = 0.4*gain; // Scale -1000-1000 to -400-400 with gain
     float throttleScale = 0.8*gain*g.throttle_gain; // Scale 0-1000 to 0-800 times gain
     int16_t rpyCenter = 1500;
@@ -93,35 +91,33 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
         rollTrim  =  y * rpyScale;
     }
 
-    channels[0] = constrain_int16(pitchTrim + rpyCenter,1100,1900); // pitch
+    RC_Channels::set_override(0, constrain_int16(pitchTrim + rpyCenter,1100,1900)); // pitch
-    channels[1] = constrain_int16(rollTrim  + rpyCenter,1100,1900); // roll
+    RC_Channels::set_override(1, constrain_int16(rollTrim  + rpyCenter,1100,1900)); // roll
 
-    channels[2] = constrain_int16((z+zTrim)*throttleScale+throttleBase,1100,1900); // throttle
+    RC_Channels::set_override(2, constrain_int16((z+zTrim)*throttleScale+throttleBase,1100,1900)); // throttle
-    channels[3] = constrain_int16(r*rpyScale+rpyCenter,1100,1900);                 // yaw
+    RC_Channels::set_override(3, constrain_int16(r*rpyScale+rpyCenter,1100,1900));                 // yaw
 
     // maneuver mode:
     if (roll_pitch_flag == 0) {
         // adjust forward and lateral with joystick input instead of roll and pitch
-        channels[4] = constrain_int16((x+xTrim)*rpyScale+rpyCenter,1100,1900); // forward for ROV
+        RC_Channels::set_override(4, constrain_int16((x+xTrim)*rpyScale+rpyCenter,1100,1900)); // forward for ROV
-        channels[5] = constrain_int16((y+yTrim)*rpyScale+rpyCenter,1100,1900); // lateral for ROV
+        RC_Channels::set_override(5, constrain_int16((y+yTrim)*rpyScale+rpyCenter,1100,1900)); // lateral for ROV
     } else {
         // neutralize forward and lateral input while we are adjusting roll and pitch
-        channels[4] = constrain_int16(xTrim*rpyScale+rpyCenter,1100,1900); // forward for ROV
+        RC_Channels::set_override(4, constrain_int16(xTrim*rpyScale+rpyCenter,1100,1900)); // forward for ROV
-        channels[5] = constrain_int16(yTrim*rpyScale+rpyCenter,1100,1900); // lateral for ROV
+        RC_Channels::set_override(5, constrain_int16(yTrim*rpyScale+rpyCenter,1100,1900)); // lateral for ROV
     }
 
-    channels[6] = cam_pan;       // camera pan
+    RC_Channels::set_override(6, cam_pan);       // camera pan
-    channels[7] = cam_tilt;      // camera tilt
+    RC_Channels::set_override(7, cam_tilt);      // camera tilt
-    channels[8] = lights1;       // lights 1
+    RC_Channels::set_override(8, lights1);       // lights 1
-    channels[9] = lights2;       // lights 2
+    RC_Channels::set_override(9, lights2);       // lights 2
-    channels[10] = video_switch; // video switch
+    RC_Channels::set_override(10, video_switch); // video switch
 
     // Store old x, y, z values for use in input hold logic
     x_last = x;
     y_last = y;
     z_last = z;
-
-    RC_Channels::set_overrides(channels, 11);
 }
 
 void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
@@ -682,18 +678,15 @@ void Sub::default_js_buttons()
 
 void Sub::set_neutral_controls()
 {
-    int16_t channels[11];
 
     for (uint8_t i = 0; i < 6; i++) {
-        channels[i] = 1500;
+        RC_Channels::set_override(i, 1500);
     }
 
     for (uint8_t i = 6; i < 11; i++) {
-        channels[i] = 0xffff;
+        RC_Channels::set_override(i, 0xffff);
     }
 
-    RC_Channels::set_overrides(channels, 10);
-
     // Clear pitch/roll trim settings
     pitchTrim = 0;
     rollTrim  = 0;