AP_HAL_ChibiOS: Remove RC overrides

libraries/AP_HAL_ChibiOS/RCInput.cpp

@@ -25,6 +25,8 @@
 extern AP_IOMCU iomcu;
 #endif
 
+#include <AP_Math/AP_Math.h>
+
 #define SIG_DETECT_TIMEOUT_US 500000
 using namespace ChibiOS;
 extern const AP_HAL::HAL& hal;
@@ -54,12 +56,7 @@ bool RCInput::new_input()
     }
     bool valid = _rcin_timestamp_last_signal != _last_read;
 
-    if (_override_valid) {
-        // if we have RC overrides active, then always consider it valid
-        valid = true;
-    }
     _last_read = _rcin_timestamp_last_signal;
-    _override_valid = false;
     rcin_mutex.give();
 
 #if HAL_RCINPUT_WITH_AP_RADIO
@@ -84,22 +81,10 @@ uint8_t RCInput::num_channels()
 
 uint16_t RCInput::read(uint8_t channel)
 {
-    if (!_init) {
-        return 0;
-    }
-    if (channel >= RC_INPUT_MAX_CHANNELS) {
+    if (!_init || (channel >= MIN(RC_INPUT_MAX_CHANNELS, _num_channels))) {
         return 0;
     }
     rcin_mutex.take(HAL_SEMAPHORE_BLOCK_FOREVER);
-    if (_override[channel]) {
-        uint16_t v = _override[channel];
-        rcin_mutex.give();
-        return v;
-    }
-    if (channel >=  _num_channels) {
-        rcin_mutex.give();
-        return 0;
-    }
     uint16_t v = _rc_values[channel];
     rcin_mutex.give();
 #if HAL_RCINPUT_WITH_AP_RADIO
@@ -126,34 +111,6 @@ uint8_t RCInput::read(uint16_t* periods, uint8_t len)
     return len;
 }
 
-bool RCInput::set_override(uint8_t channel, int16_t override)
-{
-    if (!_init) {
-        return false;
-    }
-
-    if (override < 0) {
-        return false; /* -1: no change. */
-    }
-    if (channel >= RC_INPUT_MAX_CHANNELS) {
-        return false;
-    }
-    _override[channel] = override;
-    if (override != 0) {
-        _override_valid = true;
-        return true;
-    }
-    return false;
-}
-
-void RCInput::clear_overrides()
-{
-    for (uint8_t i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
-        set_override(i, 0);
-    }
-}
-
-
 void RCInput::_timer_tick(void)
 {
     if (!_init) {

libraries/AP_HAL_ChibiOS/RCInput.h

@@ -50,20 +50,13 @@ public:
         return _rssi;
     }
         
-    
-    bool set_override(uint8_t channel, int16_t override) override;
-    void clear_overrides() override;
-
     void _timer_tick(void);
     bool rc_bind(int dsmMode) override;
 
 private:
-    /* override state */
-    uint16_t _override[RC_INPUT_MAX_CHANNELS];
     uint16_t _rc_values[RC_INPUT_MAX_CHANNELS] = {0};
 
     uint64_t _last_read;
-    bool _override_valid;
     uint8_t _num_channels;
     Semaphore rcin_mutex;
     int16_t _rssi = -1;