AP_Camera: RunCam: get rpty channels directly using convenience funct…

…ions
ArduPilot · Sep 13, 2024 · b48fed2 · b48fed2
1 parent 09286e6
commit b48fed2
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Showing 2 changed files with 4 additions and 5 deletions.
diff --git a/libraries/AP_Camera/AP_RunCam.cpp b/libraries/AP_Camera/AP_RunCam.cpp
@@ -451,10 +451,10 @@ void AP_RunCam::handle_in_menu(Event ev)
 // map rc input to an event
 AP_RunCam::Event AP_RunCam::map_rc_input_to_event() const
 {
-    const RC_Channel::AuxSwitchPos throttle = rc().get_channel_pos(AP::rcmap()->throttle());
-    const RC_Channel::AuxSwitchPos yaw = rc().get_channel_pos(AP::rcmap()->yaw());
-    const RC_Channel::AuxSwitchPos roll = rc().get_channel_pos(AP::rcmap()->roll());
-    const RC_Channel::AuxSwitchPos pitch = rc().get_channel_pos(AP::rcmap()->pitch());
+    const RC_Channel::AuxSwitchPos throttle = rc().get_throttle_channel().get_aux_switch_pos();
+    const RC_Channel::AuxSwitchPos yaw = rc().get_yaw_channel().get_aux_switch_pos();
+    const RC_Channel::AuxSwitchPos roll = rc().get_roll_channel().get_aux_switch_pos();
+    const RC_Channel::AuxSwitchPos pitch = rc().get_pitch_channel().get_aux_switch_pos();
 
     Event result = Event::NONE;
 

diff --git a/libraries/AP_Camera/AP_RunCam.h b/libraries/AP_Camera/AP_RunCam.h
@@ -27,7 +27,6 @@
 
 #include <AP_Param/AP_Param.h>
 #include <RC_Channel/RC_Channel.h>
-#include <AP_RCMapper/AP_RCMapper.h>
 #include <AP_Arming/AP_Arming.h>
 #include <AP_OSD/AP_OSD.h>