iNavFlight · fiam · Mar 18, 2019 · Jan 19, 2019
diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
@@ -1371,7 +1371,7 @@ 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];
     }
 

diff --git a/src/main/cms/cms.c b/src/main/cms/cms.c
@@ -800,9 +800,9 @@ 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

diff --git a/src/main/cms/cms_menu_misc.c b/src/main/cms/cms_menu_misc.c
@@ -38,49 +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_AND_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 --"),
@@ -91,8 +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_AND_END_ENTRY,
 };
 

diff --git a/src/main/common/logic_condition.c b/src/main/common/logic_condition.c
@@ -208,7 +208,7 @@ int logicConditionGetOperandValue(logicOperandType_e type, int operand) {
         case LOGIC_CONDITION_OPERAND_TYPE_RC_CHANNEL:
             //Extract RC channel raw value
             if (operand >= 1 && operand <= 16) {
-                retVal = rcData[operand - 1];
+                retVal = rxGetChannelValue(operand - 1);
             } 
             break;
 
@@ -240,4 +240,4 @@ void logicConditionUpdateTask(timeUs_t currentTimeUs) {
     for (uint8_t i = 0; i < MAX_LOGIC_CONDITIONS; i++) {
         logicConditionProcess(i);
     }
-}
+}
diff --git a/src/main/fc/fc_core.c b/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
     ) {

diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
@@ -507,7 +507,7 @@ 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;
 

diff --git a/src/main/fc/rc_adjustments.c b/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

diff --git a/src/main/fc/rc_controls.c b/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);
 }
diff --git a/src/main/fc/rc_modes.c b/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));
 }

diff --git a/src/main/flight/failsafe.c b/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;
     }

diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
@@ -403,7 +403,7 @@ 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;
         }

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
@@ -371,7 +371,7 @@ void FAST_CODE NOINLINE 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

diff --git a/src/main/flight/servos.c b/src/main/flight/servos.c
@@ -237,7 +237,7 @@ 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;
         }
@@ -268,22 +268,24 @@ 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;

diff --git a/src/main/io/ledstrip.c b/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();
 

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
@@ -834,7 +834,7 @@ 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;

diff --git a/src/main/io/rcdevice_cam.c b/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];