Sub: Use RC_Channels instead of hal.rcin

ArduSub/GCS_Mavlink.cpp

@@ -949,19 +949,16 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
             break;    // Only accept control from our gcs
         }
         mavlink_rc_channels_override_t packet;
-        int16_t v[8];
         mavlink_msg_rc_channels_override_decode(msg, &packet);
 
-        v[0] = packet.chan1_raw;
+        RC_Channels::set_override(0, packet.chan1_raw);
-        v[1] = packet.chan2_raw;
+        RC_Channels::set_override(1, packet.chan2_raw);
-        v[2] = packet.chan3_raw;
+        RC_Channels::set_override(2, packet.chan3_raw);
-        v[3] = packet.chan4_raw;
+        RC_Channels::set_override(3, packet.chan4_raw);
-        v[4] = packet.chan5_raw;
+        RC_Channels::set_override(4, packet.chan5_raw);
-        v[5] = packet.chan6_raw;
+        RC_Channels::set_override(5, packet.chan6_raw);
-        v[6] = packet.chan7_raw;
+        RC_Channels::set_override(6, packet.chan7_raw);
-        v[7] = packet.chan8_raw;
+        RC_Channels::set_override(7, packet.chan8_raw);
-
-        hal.rcin->set_overrides(v, 8);
 
         sub.failsafe.last_pilot_input_ms = AP_HAL::millis();
         // a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes

ArduSub/joystick.cpp

@@ -121,7 +121,7 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
     y_last = y;
     z_last = z;
 
-    hal.rcin->set_overrides(channels, 11);
+    RC_Channels::set_overrides(channels, 11);
 }
 
 void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
@@ -690,7 +690,7 @@ void Sub::set_neutral_controls()
         channels[i] = 0xffff;
     }
 
-    hal.rcin->set_overrides(channels, 10);
+    RC_Channels::set_overrides(channels, 10);
 
     // Clear pitch/roll trim settings
     pitchTrim = 0;

ArduSub/radio.cpp

@@ -28,21 +28,21 @@ void Sub::init_rc_in()
 #if CONFIG_HAL_BOARD != HAL_BOARD_SITL
     // initialize rc input to 1500 on control channels (rather than 0)
     for (int i = 0; i < 6; i++) {
-        hal.rcin->set_override(i, 1500);
+        RC_Channels::set_override(i, 1500);
     }
 
-    hal.rcin->set_override(6, 1500); // camera pan channel
+    RC_Channels::set_override(6, 1500); // camera pan channel
-    hal.rcin->set_override(7, 1500); // camera tilt channel
+    RC_Channels::set_override(7, 1500); // camera tilt channel
 
     RC_Channel* chan = RC_Channels::rc_channel(8);
     uint16_t min = chan->get_radio_min();
-    hal.rcin->set_override(8, min); // lights 1 channel
+    RC_Channels::set_override(8, min); // lights 1 channel
 
     chan = RC_Channels::rc_channel(9);
     min = chan->get_radio_min();
-    hal.rcin->set_override(9, min); // lights 2 channel
+    RC_Channels::set_override(9, min); // lights 2 channel
 
-    hal.rcin->set_override(10, 1100); // video switch
+    RC_Channels::set_override(10, 1100); // video switch
 #endif
 }