Plane: Simplify channel reading

ArduPlane/Plane.h

@@ -309,17 +309,6 @@ private:
     // This is used to enable the PX4IO override for testing
     bool px4io_override_enabled;
 
-    struct {
-        // These are trim values used for elevon control
-        // For elevons radio_in[CH_ROLL] and radio_in[CH_PITCH] are
-        // equivalent aileron and elevator, not left and right elevon
-        uint16_t trim1;
-        uint16_t trim2;
-        // These are used in the calculation of elevon1_trim and elevon2_trim
-        uint16_t ch1_temp;
-        uint16_t ch2_temp;
-    } elevon { 1500, 1500, 1500, 1500 };
-
     // Failsafe
     struct {
         // Used to track if the value on channel 3 (throtttle) has fallen below the failsafe threshold

ArduPlane/radio.cpp

@@ -183,25 +183,15 @@ void Plane::read_radio()
 
     failsafe.last_valid_rc_ms = millis();
 
-    elevon.ch1_temp = channel_roll->read();
-    elevon.ch2_temp = channel_pitch->read();
-    uint16_t pwm_roll, pwm_pitch;
-
-    pwm_roll = elevon.ch1_temp;
-    pwm_pitch = elevon.ch2_temp;
-
     RC_Channels::set_pwm_all();
     
     if (control_mode == TRAINING) {
         // in training mode we don't want to use a deadzone, as we
         // want manual pass through when not exceeding attitude limits
-        channel_roll->set_pwm_no_deadzone(pwm_roll);
-        channel_pitch->set_pwm_no_deadzone(pwm_pitch);
-        channel_throttle->set_pwm_no_deadzone(channel_throttle->read());
-        channel_rudder->set_pwm_no_deadzone(channel_rudder->read());
-    } else {
-        channel_roll->set_pwm(pwm_roll);
-        channel_pitch->set_pwm(pwm_pitch);
+        channel_roll->recompute_pwm_no_deadzone();
+        channel_pitch->recompute_pwm_no_deadzone();
+        channel_throttle->recompute_pwm_no_deadzone();
+        channel_rudder->recompute_pwm_no_deadzone();
     }
 
     control_failsafe();