Refactor handling of RC input data

- Remove globals rcData and rcRaw
- Use accesor functions to retrieve RX input data
- Refactor rx.c to use an array of structs instead of multiple arrays
- Drop the RC Preview menu from CMS. Implementing this without
globals requires significant flash and the usefulness of this menu
is questionable. If we get complains, we can add it back later.

Flash usage goes down ~250 bytes due to the removed menu. Final
binary is mostly unaffected, since LTO is able to inline the new
accessor functions in most cases.

src/main/blackbox/blackbox.c

@@ -1331,7 +1331,7 @@ static void loadMainState(timeUs_t currentTimeUs)
 #endif
 
     for (int i = 0; i < 4; i++) {
-        blackboxCurrent->rcData[i] = rcData[i];
+        blackboxCurrent->rcData[i] = rxGetChannelValue(i);
         blackboxCurrent->rcCommand[i] = rcCommand[i];
     }
 

src/main/cms/cms.c

@@ -780,9 +780,9 @@ void cmsYieldDisplay(displayPort_t *pPort, timeMs_t duration)
 
 // Stick/key detection and key codes
 
-#define IS_HI(X)  (rcData[X] > 1750)
-#define IS_LO(X)  (rcData[X] < 1250)
-#define IS_MID(X) (rcData[X] > 1250 && rcData[X] < 1750)
+#define IS_HI(X)  (rxGetChannelValue(X) > 1750)
+#define IS_LO(X)  (rxGetChannelValue(X) < 1250)
+#define IS_MID(X) (rxGetChannelValue(X) > 1250 && rxGetChannelValue(X) < 1750)
 
 #define KEY_NONE    0
 #define KEY_UP      1

src/main/cms/cms_menu_misc.c

@@ -38,50 +38,6 @@
 
 #include "sensors/battery.h"
 
-//
-// Misc
-//
-
-static long cmsx_menuRcConfirmBack(const OSD_Entry *self)
-{
-    if (self && self->type == OME_Back)
-        return 0;
-    else
-        return -1;
-}
-
-//
-// RC preview
-//
-static const OSD_Entry cmsx_menuRcEntries[] =
-{
-    OSD_LABEL_ENTRY("-- RC PREV --"),
-
-    OSD_INT16_RO_ENTRY("ROLL", &rcData[ROLL]),
-    OSD_INT16_RO_ENTRY("PITCH", &rcData[PITCH]),
-    OSD_INT16_RO_ENTRY("THR", &rcData[THROTTLE]),
-    OSD_INT16_RO_ENTRY("YAW", &rcData[YAW]),
-
-    OSD_INT16_RO_ENTRY("AUX1", &rcData[AUX1]),
-    OSD_INT16_RO_ENTRY("AUX2", &rcData[AUX2]),
-    OSD_INT16_RO_ENTRY("AUX3", &rcData[AUX3]),
-    OSD_INT16_RO_ENTRY("AUX4", &rcData[AUX4]),
-
-    OSD_BACK_ENTRY,
-    OSD_END_ENTRY,
-};
-
-static const CMS_Menu cmsx_menuRcPreview = {
-#ifdef CMS_MENU_DEBUG
-    .GUARD_text = "XRCPREV",
-    .GUARD_type = OME_MENU,
-#endif
-    .onEnter = NULL,
-    .onExit = cmsx_menuRcConfirmBack,
-    .onGlobalExit = NULL,
-    .entries = cmsx_menuRcEntries
-};
-
 static const OSD_Entry menuMiscEntries[]=
 {
     OSD_LABEL_ENTRY("-- MISC --"),
@@ -92,8 +48,6 @@ static const OSD_Entry menuMiscEntries[]=
     OSD_SETTING_ENTRY("STATS ENERGY UNIT", SETTING_OSD_STATS_ENERGY_UNIT),
 #endif
 
-    OSD_SUBMENU_ENTRY("RC PREV", &cmsx_menuRcPreview),
-
     OSD_BACK_ENTRY,
     OSD_END_ENTRY,
 };

src/main/fc/fc_core.c

@@ -304,9 +304,9 @@ void annexCode(void)
     }
     else {
         // Compute ROLL PITCH and YAW command
-        rcCommand[ROLL] = getAxisRcCommand(rcData[ROLL], FLIGHT_MODE(MANUAL_MODE) ? currentControlRateProfile->manual.rcExpo8 : currentControlRateProfile->stabilized.rcExpo8, rcControlsConfig()->deadband);
-        rcCommand[PITCH] = getAxisRcCommand(rcData[PITCH], FLIGHT_MODE(MANUAL_MODE) ? currentControlRateProfile->manual.rcExpo8 : currentControlRateProfile->stabilized.rcExpo8, rcControlsConfig()->deadband);
-        rcCommand[YAW] = -getAxisRcCommand(rcData[YAW], FLIGHT_MODE(MANUAL_MODE) ? currentControlRateProfile->manual.rcYawExpo8 : currentControlRateProfile->stabilized.rcYawExpo8, rcControlsConfig()->yaw_deadband);
+        rcCommand[ROLL] = getAxisRcCommand(rxGetChannelValue(ROLL), FLIGHT_MODE(MANUAL_MODE) ? currentControlRateProfile->manual.rcExpo8 : currentControlRateProfile->stabilized.rcExpo8, rcControlsConfig()->deadband);
+        rcCommand[PITCH] = getAxisRcCommand(rxGetChannelValue(PITCH), FLIGHT_MODE(MANUAL_MODE) ? currentControlRateProfile->manual.rcExpo8 : currentControlRateProfile->stabilized.rcExpo8, rcControlsConfig()->deadband);
+        rcCommand[YAW] = -getAxisRcCommand(rxGetChannelValue(YAW), FLIGHT_MODE(MANUAL_MODE) ? currentControlRateProfile->manual.rcYawExpo8 : currentControlRateProfile->stabilized.rcYawExpo8, rcControlsConfig()->yaw_deadband);
 
         // Apply manual control rates
         if (FLIGHT_MODE(MANUAL_MODE)) {
@@ -316,7 +316,7 @@ void annexCode(void)
         }
 
         //Compute THROTTLE command
-        throttleValue = constrain(rcData[THROTTLE], rxConfig()->mincheck, PWM_RANGE_MAX);
+        throttleValue = constrain(rxGetChannelValue(THROTTLE), rxConfig()->mincheck, PWM_RANGE_MAX);
         throttleValue = (uint32_t)(throttleValue - rxConfig()->mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - rxConfig()->mincheck);       // [MINCHECK;2000] -> [0;1000]
         rcCommand[THROTTLE] = rcLookupThrottle(throttleValue);
 
@@ -708,7 +708,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
     // sticks, do not process yaw input from the rx.  We do this so the
     // motors do not spin up while we are trying to arm or disarm.
     // Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
-    if (isUsingSticksForArming() && rcData[THROTTLE] <= rxConfig()->mincheck
+    if (isUsingSticksForArming() && rxGetChannelValue(THROTTLE) <= rxConfig()->mincheck
             && !((mixerConfig()->platformType == PLATFORM_TRICOPTER) && servoConfig()->tri_unarmed_servo)
             && mixerConfig()->platformType != PLATFORM_AIRPLANE
     ) {

src/main/fc/fc_msp.c

@@ -478,7 +478,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
 
     case MSP_RC:
         for (int i = 0; i < rxRuntimeConfig.channelCount; i++) {
-            sbufWriteU16(dst, rcRaw[i]);
+            sbufWriteU16(dst, rxGetRawChannelValue(i));
         }
         break;
 

src/main/fc/rc_adjustments.c

@@ -601,9 +601,9 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig, bool canUseRxD
 
         if (adjustmentState->config->mode == ADJUSTMENT_MODE_STEP) {
             int delta;
-            if (rcData[channelIndex] > PWM_RANGE_MIDDLE + 200) {
+            if (rxGetChannelValue(channelIndex) > PWM_RANGE_MIDDLE + 200) {
                 delta = adjustmentState->config->data.stepConfig.step;
-            } else if (rcData[channelIndex] < PWM_RANGE_MIDDLE - 200) {
+            } else if (rxGetChannelValue(channelIndex) < PWM_RANGE_MIDDLE - 200) {
                 delta = 0 - adjustmentState->config->data.stepConfig.step;
             } else {
                 // returning the switch to the middle immediately resets the ready state
@@ -620,7 +620,7 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig, bool canUseRxD
 #ifdef USE_INFLIGHT_PROFILE_ADJUSTMENT
         } else if (adjustmentState->config->mode == ADJUSTMENT_MODE_SELECT) {
             const uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.selectConfig.switchPositions);
-            const uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth;
+            const uint8_t position = (constrain(rxGetChannelValue(channelIndex), 900, 2100 - 1) - 900) / rangeWidth;
 
             applySelectAdjustment(adjustmentFunction, position);
 #endif

src/main/fc/rc_controls.c

@@ -101,18 +101,18 @@ bool areSticksDeflectedMoreThanPosHoldDeadband(void)
 throttleStatus_e calculateThrottleStatus(void)
 {
     const uint16_t deadband3d_throttle = rcControlsConfig()->deadband3d_throttle;
-    if (feature(FEATURE_3D) && (rcData[THROTTLE] > (PWM_RANGE_MIDDLE - deadband3d_throttle) && rcData[THROTTLE] < (PWM_RANGE_MIDDLE + deadband3d_throttle)))
+    if (feature(FEATURE_3D) && (rxGetChannelValue(THROTTLE) > (PWM_RANGE_MIDDLE - deadband3d_throttle) && rxGetChannelValue(THROTTLE) < (PWM_RANGE_MIDDLE + deadband3d_throttle)))
         return THROTTLE_LOW;
-    else if (!feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig()->mincheck))
+    else if (!feature(FEATURE_3D) && (rxGetChannelValue(THROTTLE) < rxConfig()->mincheck))
         return THROTTLE_LOW;
 
     return THROTTLE_HIGH;
 }
 
 rollPitchStatus_e calculateRollPitchCenterStatus(void)
 {
-    if (((rcData[PITCH] < (PWM_RANGE_MIDDLE + AIRMODE_DEADBAND)) && (rcData[PITCH] > (PWM_RANGE_MIDDLE -AIRMODE_DEADBAND)))
-            && ((rcData[ROLL] < (PWM_RANGE_MIDDLE + AIRMODE_DEADBAND)) && (rcData[ROLL] > (PWM_RANGE_MIDDLE -AIRMODE_DEADBAND))))
+    if (((rxGetChannelValue(PITCH) < (PWM_RANGE_MIDDLE + AIRMODE_DEADBAND)) && (rxGetChannelValue(PITCH) > (PWM_RANGE_MIDDLE -AIRMODE_DEADBAND)))
+            && ((rxGetChannelValue(ROLL) < (PWM_RANGE_MIDDLE + AIRMODE_DEADBAND)) && (rxGetChannelValue(ROLL) > (PWM_RANGE_MIDDLE -AIRMODE_DEADBAND))))
         return CENTERED;
 
     return NOT_CENTERED;
@@ -139,17 +139,17 @@ static void updateRcStickPositions(void)
 {
     stickPositions_e tmp = 0;
 
-    tmp |= ((rcData[ROLL] > rxConfig()->mincheck) ? 0x02 : 0x00) << (ROLL * 2);
-    tmp |= ((rcData[ROLL] < rxConfig()->maxcheck) ? 0x01 : 0x00) << (ROLL * 2);
+    tmp |= ((rxGetChannelValue(ROLL) > rxConfig()->mincheck) ? 0x02 : 0x00) << (ROLL * 2);
+    tmp |= ((rxGetChannelValue(ROLL) < rxConfig()->maxcheck) ? 0x01 : 0x00) << (ROLL * 2);
 
-    tmp |= ((rcData[PITCH] > rxConfig()->mincheck) ? 0x02 : 0x00) << (PITCH * 2);
-    tmp |= ((rcData[PITCH] < rxConfig()->maxcheck) ? 0x01 : 0x00) << (PITCH * 2);
+    tmp |= ((rxGetChannelValue(PITCH) > rxConfig()->mincheck) ? 0x02 : 0x00) << (PITCH * 2);
+    tmp |= ((rxGetChannelValue(PITCH) < rxConfig()->maxcheck) ? 0x01 : 0x00) << (PITCH * 2);
 
-    tmp |= ((rcData[YAW] > rxConfig()->mincheck) ? 0x02 : 0x00) << (YAW * 2);
-    tmp |= ((rcData[YAW] < rxConfig()->maxcheck) ? 0x01 : 0x00) << (YAW * 2);
+    tmp |= ((rxGetChannelValue(YAW) > rxConfig()->mincheck) ? 0x02 : 0x00) << (YAW * 2);
+    tmp |= ((rxGetChannelValue(YAW) < rxConfig()->maxcheck) ? 0x01 : 0x00) << (YAW * 2);
 
-    tmp |= ((rcData[THROTTLE] > rxConfig()->mincheck) ? 0x02 : 0x00) << (THROTTLE * 2);
-    tmp |= ((rcData[THROTTLE] < rxConfig()->maxcheck) ? 0x01 : 0x00) << (THROTTLE * 2);
+    tmp |= ((rxGetChannelValue(THROTTLE) > rxConfig()->mincheck) ? 0x02 : 0x00) << (THROTTLE * 2);
+    tmp |= ((rxGetChannelValue(THROTTLE) < rxConfig()->maxcheck) ? 0x01 : 0x00) << (THROTTLE * 2);
 
     rcStickPositions = tmp;
 }
@@ -350,5 +350,5 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
 }
 
 int32_t getRcStickDeflection(int32_t axis) {
-    return MIN(ABS(rcData[axis] - PWM_RANGE_MIDDLE), 500);
+    return MIN(ABS(rxGetChannelValue(axis) - PWM_RANGE_MIDDLE), 500);
 }

src/main/fc/rc_modes.c

@@ -102,7 +102,7 @@ bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range)
     // No need to constrain() here, since we're testing for a closed range defined
     // by the channelRange_t. If channelValue has an invalid value, the test will
     // be false anyway.
-    uint16_t channelValue = rcData[auxChannelIndex + NON_AUX_CHANNEL_COUNT];
+    uint16_t channelValue = rxGetChannelValue(auxChannelIndex + NON_AUX_CHANNEL_COUNT);
     return (channelValue >= CHANNEL_RANGE_MIN + (range->startStep * CHANNEL_RANGE_STEP_WIDTH) &&
             channelValue < CHANNEL_RANGE_MIN + (range->endStep * CHANNEL_RANGE_STEP_WIDTH));
 }

src/main/flight/failsafe.c

@@ -332,9 +332,9 @@ static bool failsafeCheckStickMotion(void)
     if (failsafeConfig()->failsafe_stick_motion_threshold > 0) {
         uint32_t totalRcDelta = 0;
 
-        totalRcDelta += ABS(rcData[ROLL] - PWM_RANGE_MIDDLE);
-        totalRcDelta += ABS(rcData[PITCH] - PWM_RANGE_MIDDLE);
-        totalRcDelta += ABS(rcData[YAW] - PWM_RANGE_MIDDLE);
+        totalRcDelta += ABS(rxGetChannelValue(ROLL) - PWM_RANGE_MIDDLE);
+        totalRcDelta += ABS(rxGetChannelValue(PITCH) - PWM_RANGE_MIDDLE);
+        totalRcDelta += ABS(rxGetChannelValue(YAW) - PWM_RANGE_MIDDLE);
 
         return totalRcDelta >= failsafeConfig()->failsafe_stick_motion_threshold;
     }

src/main/flight/mixer.c

@@ -414,7 +414,7 @@ motorStatus_e getMotorStatus(void)
         return MOTOR_STOPPED_AUTO;
     }
 
-    if (rcData[THROTTLE] < rxConfig()->mincheck) {
+    if (rxGetChannelValue(THROTTLE) < rxConfig()->mincheck) {
         if ((STATE(FIXED_WING) || !isAirmodeActive()) && (!(navigationIsFlyingAutonomousMode() && navConfig()->general.flags.auto_overrides_motor_stop)) && (!failsafeIsActive())) {
             return MOTOR_STOPPED_USER;
         }

src/main/flight/pid.c

@@ -361,7 +361,7 @@ void updatePIDCoefficients(void)
      * Compute stick position in range of [-1.0f : 1.0f] without deadband and expo
      */
     for (int axis = 0; axis < 3; axis++) {
-        pidState[axis].stickPosition = constrain(rcData[axis] - PWM_RANGE_MIDDLE, -500, 500) / 500.0f;
+        pidState[axis].stickPosition = constrain(rxGetChannelValue(axis) - PWM_RANGE_MIDDLE, -500, 500) / 500.0f;
     }
 
     // If nothing changed - don't waste time recalculating coefficients

src/main/flight/servos.c

@@ -222,7 +222,7 @@ void servoMixer(float dT)
         input[INPUT_STABILIZED_YAW] = axisPID[YAW];
 
         // Reverse yaw servo when inverted in 3D mode only for multirotor and tricopter
-        if (feature(FEATURE_3D) && (rcData[THROTTLE] < PWM_RANGE_MIDDLE) &&
+        if (feature(FEATURE_3D) && (rxGetChannelValue(THROTTLE) < PWM_RANGE_MIDDLE) &&
         (mixerConfig()->platformType == PLATFORM_MULTIROTOR || mixerConfig()->platformType == PLATFORM_TRICOPTER)) {
             input[INPUT_STABILIZED_YAW] *= -1;
         }
@@ -246,22 +246,24 @@ void servoMixer(float dT)
     // 2000 - 1500 = +500
     // 1500 - 1500 = 0
     // 1000 - 1500 = -500
-    input[INPUT_RC_ROLL]     = rcData[ROLL]     - PWM_RANGE_MIDDLE;
-    input[INPUT_RC_PITCH]    = rcData[PITCH]    - PWM_RANGE_MIDDLE;
-    input[INPUT_RC_YAW]      = rcData[YAW]      - PWM_RANGE_MIDDLE;
-    input[INPUT_RC_THROTTLE] = rcData[THROTTLE] - PWM_RANGE_MIDDLE;
-    input[INPUT_RC_CH5]      = rcData[AUX1]     - PWM_RANGE_MIDDLE;
-    input[INPUT_RC_CH6]      = rcData[AUX2]     - PWM_RANGE_MIDDLE;
-    input[INPUT_RC_CH7]      = rcData[AUX3]     - PWM_RANGE_MIDDLE;
-    input[INPUT_RC_CH8]      = rcData[AUX4]     - PWM_RANGE_MIDDLE;
-    input[INPUT_RC_CH9]      = rcData[AUX5]     - PWM_RANGE_MIDDLE;
-    input[INPUT_RC_CH10]     = rcData[AUX6]     - PWM_RANGE_MIDDLE;
-    input[INPUT_RC_CH11]     = rcData[AUX7]     - PWM_RANGE_MIDDLE;
-    input[INPUT_RC_CH12]     = rcData[AUX8]     - PWM_RANGE_MIDDLE;
-    input[INPUT_RC_CH13]     = rcData[AUX9]     - PWM_RANGE_MIDDLE;
-    input[INPUT_RC_CH14]     = rcData[AUX10]    - PWM_RANGE_MIDDLE;
-    input[INPUT_RC_CH15]     = rcData[AUX11]    - PWM_RANGE_MIDDLE;
-    input[INPUT_RC_CH16]     = rcData[AUX12]    - PWM_RANGE_MIDDLE;
+#define GET_RX_CHANNEL_INPUT(x) (rxGetChannelValue(x) - PWM_RANGE_MIDDLE)
+    input[INPUT_RC_ROLL]     = GET_RX_CHANNEL_INPUT(ROLL);
+    input[INPUT_RC_PITCH]    = GET_RX_CHANNEL_INPUT(PITCH);
+    input[INPUT_RC_YAW]      = GET_RX_CHANNEL_INPUT(YAW);
+    input[INPUT_RC_THROTTLE] = GET_RX_CHANNEL_INPUT(THROTTLE);
+    input[INPUT_RC_CH5]      = GET_RX_CHANNEL_INPUT(AUX1);
+    input[INPUT_RC_CH6]      = GET_RX_CHANNEL_INPUT(AUX2);
+    input[INPUT_RC_CH7]      = GET_RX_CHANNEL_INPUT(AUX3);
+    input[INPUT_RC_CH8]      = GET_RX_CHANNEL_INPUT(AUX4);
+    input[INPUT_RC_CH9]      = GET_RX_CHANNEL_INPUT(AUX5);
+    input[INPUT_RC_CH10]     = GET_RX_CHANNEL_INPUT(AUX6);
+    input[INPUT_RC_CH11]     = GET_RX_CHANNEL_INPUT(AUX7);
+    input[INPUT_RC_CH12]     = GET_RX_CHANNEL_INPUT(AUX8);
+    input[INPUT_RC_CH13]     = GET_RX_CHANNEL_INPUT(AUX9);
+    input[INPUT_RC_CH14]     = GET_RX_CHANNEL_INPUT(AUX10);
+    input[INPUT_RC_CH15]     = GET_RX_CHANNEL_INPUT(AUX11);
+    input[INPUT_RC_CH16]     = GET_RX_CHANNEL_INPUT(AUX12);
+#undef GET_RX_CHANNEL_INPUT
 
     for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
         servo[i] = 0;

src/main/io/ledstrip.c

@@ -727,7 +727,7 @@ static void applyLedThrustRingLayer(bool updateNow, timeUs_t *timer)
     if (updateNow) {
         rotationPhase = rotationPhase > 0 ? rotationPhase - 1 : ledCounts.ringSeqLen - 1;
 
-        int scale = scaledThrottle; // ARMING_FLAG(ARMED) ? scaleRange(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX, 10, 100) : 10;
+        int scale = scaledThrottle; // ARMING_FLAG(ARMED) ? scaleRange(rxGetChannelValue(THROTTLE), PWM_RANGE_MIN, PWM_RANGE_MAX, 10, 100) : 10;
         *timer += LED_STRIP_HZ(5) * 10 / scale;  // 5 - 50Hz update rate
     }
 
@@ -949,7 +949,7 @@ void ledStripUpdate(timeUs_t currentTimeUs)
 
     // apply all layers; triggered timed functions has to update timers
 
-    scaledThrottle = ARMING_FLAG(ARMED) ? scaleRange(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX, 10, 100) : 10;
+    scaledThrottle = ARMING_FLAG(ARMED) ? scaleRange(rxGetChannelValue(THROTTLE), PWM_RANGE_MIN, PWM_RANGE_MAX, 10, 100) : 10;
 
     applyLedFixedLayers();
 

src/main/io/osd.c

@@ -801,7 +801,7 @@ static void osdFormatThrottlePosition(char *buff, bool autoThr, textAttributes_t
 {
     buff[0] = SYM_BLANK;
     buff[1] = SYM_THR;
-    int16_t thr = rcData[THROTTLE];
+    int16_t thr = rxGetChannelValue(THROTTLE);
     if (autoThr && navigationIsControllingThrottle()) {
         buff[0] = SYM_AUTO_THR0;
         buff[1] = SYM_AUTO_THR1;

src/main/io/rcdevice_cam.c

@@ -34,9 +34,9 @@
 
 #ifdef USE_RCDEVICE
 
-#define IS_HI(X) (rcData[X] > 1750)
-#define IS_LO(X) (rcData[X] < 1250)
-#define IS_MID(X) (rcData[X] > 1250 && rcData[X] < 1750)
+#define IS_HI(X) (rxGetChannelValue(X) > 1750)
+#define IS_LO(X) (rxGetChannelValue(X) < 1250)
+#define IS_MID(X) (rxGetChannelValue(X) > 1250 && rxGetChannelValue(X) < 1750)
 static runcamDevice_t runcamDevice;
 runcamDevice_t *camDevice = &runcamDevice;
 rcdeviceSwitchState_t switchStates[BOXCAMERA3 - BOXCAMERA1 + 1];