Merge pull request #8892 from DonLakeFlyer/RCChannelMax

Radio Cal/Monitor: Handle max channel correctly

src/AutoPilotPlugins/Common/RadioComponentController.h

@@ -232,8 +232,6 @@ private:
 
     void _signalAllAttitudeValueChanges(void);
 
-    int _chanMax(void) const;
-
     bool _channelReversedParamValue(int channel);
     void _setChannelReversedParamValue(int channel, bool reversed);
 
@@ -272,14 +270,10 @@ private:
     static const int _attitudeControls = 5;
 
     int _chanCount;                     ///< Number of actual rc channels available
-    static const int _chanMaxPX4 = 18;  ///< Maximum number of supported rc channels, PX4 Firmware
-    static const int _chanMaxAPM = 14;  ///< Maximum number of supported rc channels, APM firmware
-    static const int _chanMaxAny = 18;  ///< Maximum number of support rc channels by this implementation
+    static const int _chanMax = 18;     ///< Maximum number of support rc channels by this implementation
     static const int _chanMinimum = 5;  ///< Minimum numner of channels required to run
 
-    struct ChannelInfo _rgChannelInfo[_chanMaxAny];    ///< Information associated with each rc channel
-
-    QList<int> _apmPossibleMissingRCChannelParams;  ///< List of possible missing RC*_* params for APM stack
+    struct ChannelInfo _rgChannelInfo[_chanMax];    ///< Information associated with each rc channel
 
     enum rcCalStates _rcCalState;       ///< Current calibration state
     int _rcCalStateCurrentChannel;      ///< Current channel being worked on in rcCalStateIdentify and rcCalStateDetectInversion
@@ -302,9 +296,9 @@ private:
     QString             _revParamFormat;
     bool                _revParamIsBool;
 
-    int _rcValueSave[_chanMaxAny];        ///< Saved values prior to detecting channel movement
+    int _rcValueSave[_chanMax];        ///< Saved values prior to detecting channel movement
 
-    int _rcRawValue[_chanMaxAny];         ///< Current set of raw channel values
+    int _rcRawValue[_chanMax];         ///< Current set of raw channel values
 
     int     _stickDetectChannel;
     int     _stickDetectInitialValue;

src/QmlControls/RCChannelMonitorController.cc

@@ -18,9 +18,7 @@ RCChannelMonitorController::RCChannelMonitorController(void)
 
 void RCChannelMonitorController::_rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels])
 {
-    int maxChannel = std::min(channelCount, _chanMax());
-
-    for (int channel=0; channel<maxChannel; channel++) {
+    for (int channel=0; channel<channelCount; channel++) {
         int channelValue = pwmValues[channel];
 
         if (_chanCount != channelCount) {
@@ -33,8 +31,3 @@ void RCChannelMonitorController::_rcChannelsChanged(int channelCount, int pwmVal
         }
     }
 }
-
-int RCChannelMonitorController::_chanMax(void) const
-{
-    return _vehicle->firmwareType() == MAV_AUTOPILOT_PX4 ? _chanMaxPX4 : _chanMaxAPM;
-}

src/QmlControls/RCChannelMonitorController.h

@@ -37,12 +37,7 @@ private slots:
     void _rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels]);
 
 private:
-    int _chanMax(void) const;
-
     int _chanCount;
-
-    static const int _chanMaxPX4 = 18;  ///< Maximum number of supported rc channels, PX4 Firmware
-    static const int _chanMaxAPM = 14;  ///< Maximum number of supported rc channels, APM firmware
 };
 
 #endif // RCChannelMonitorController_H