AP_OSD: don't go via RCMap singleton to get RPTY RC channels

ArduPilot · Sep 13, 2024 · 5ede02d · 5ede02d
1 parent 12e23ec
commit 5ede02d
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Showing 2 changed files with 8 additions and 12 deletions.
diff --git a/libraries/AP_OSD/AP_OSD.h b/libraries/AP_OSD/AP_OSD.h
@@ -503,7 +503,7 @@ class AP_OSD_ParamScreen : public AP_OSD_AbstractScreen
 
 #if AP_RC_CHANNEL_ENABLED
     Event map_rc_input_to_event() const;
-    RC_Channel::AuxSwitchPos get_channel_pos(uint8_t rcmapchan) const;
+    RC_Channel::AuxSwitchPos get_channel_pos(const class RC_Channel &chan) const;
 #endif
 
     uint8_t _selected_param = 1;

diff --git a/libraries/AP_OSD/AP_OSD_ParamScreen.cpp b/libraries/AP_OSD/AP_OSD_ParamScreen.cpp
@@ -26,7 +26,6 @@
 #include <AP_HAL/Util.h>
 #include <limits.h>
 #include <ctype.h>
-#include <AP_RCMapper/AP_RCMapper.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 #include <AP_Arming/AP_Arming.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
@@ -390,14 +389,11 @@ void AP_OSD_ParamScreen::modify_configured_parameter(uint8_t number, Event ev)
 }
 
 // return radio values as LOW, MIDDLE, HIGH
-// this function uses different threshold values to RC_Chanel::get_channel_pos()
+// this function uses different threshold values to RC_Chanel::get_aux_switch_pos()
 // to avoid glitching on the stick travel
-RC_Channel::AuxSwitchPos AP_OSD_ParamScreen::get_channel_pos(uint8_t rcmapchan) const
+RC_Channel::AuxSwitchPos AP_OSD_ParamScreen::get_channel_pos(const RC_Channel &chanref) const
 {
-    const RC_Channel* chan = rc().channel(rcmapchan-1);
-    if (chan == nullptr) {
-        return RC_Channel::AuxSwitchPos::LOW;
-    }
+    const auto chan = &chanref;
 
     const uint16_t in = chan->get_radio_in();
     if (in <= 900 || in >= 2200) {
@@ -419,10 +415,10 @@ RC_Channel::AuxSwitchPos AP_OSD_ParamScreen::get_channel_pos(uint8_t rcmapchan)
 // map rc input to an event
 AP_OSD_ParamScreen::Event AP_OSD_ParamScreen::map_rc_input_to_event() const
 {
-    const RC_Channel::AuxSwitchPos throttle = get_channel_pos(AP::rcmap()->throttle());
-    const RC_Channel::AuxSwitchPos yaw = get_channel_pos(AP::rcmap()->yaw());
-    const RC_Channel::AuxSwitchPos roll = get_channel_pos(AP::rcmap()->roll());
-    const RC_Channel::AuxSwitchPos pitch = get_channel_pos(AP::rcmap()->pitch());
+    const RC_Channel::AuxSwitchPos throttle = get_channel_pos(rc().get_throttle_channel());
+    const RC_Channel::AuxSwitchPos yaw = get_channel_pos(rc().get_yaw_channel());
+    const RC_Channel::AuxSwitchPos roll = get_channel_pos(rc().get_roll_channel());
+    const RC_Channel::AuxSwitchPos pitch = get_channel_pos(rc().get_pitch_channel());
 
     Event result = Event::NONE;