From 0aa4c4ed9a0ba30b5b847419df3c4dc25af0715f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 22 Nov 2018 14:27:51 +1100
Subject: [PATCH] Tracker: remove pointless wrappers around gcs functions

---
 AntennaTracker/AntennaTracker.cpp |  6 +++---
 AntennaTracker/GCS_Mavlink.cpp    | 28 ++--------------------------
 AntennaTracker/Tracker.h          |  3 ---
 3 files changed, 5 insertions(+), 32 deletions(-)

diff --git a/AntennaTracker/AntennaTracker.cpp b/AntennaTracker/AntennaTracker.cpp
index 9cd99d5392..72ba245793 100644
--- a/AntennaTracker/AntennaTracker.cpp
+++ b/AntennaTracker/AntennaTracker.cpp
@@ -39,8 +39,8 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
     SCHED_TASK(update_compass,         10,   1500),
     SCHED_TASK_CLASS(AP_BattMonitor,    &tracker.battery,   read,           10, 1500),
     SCHED_TASK_CLASS(AP_Baro,          &tracker.barometer,  update,         10,   1500),
-    SCHED_TASK(gcs_update,             50,   1700),
-    SCHED_TASK(gcs_data_stream_send,   50,   3000),
+    SCHED_TASK_CLASS(GCS,                 (GCS*)&tracker._gcs,       update,                 50, 1700),
+    SCHED_TASK_CLASS(GCS,                 (GCS*)&tracker._gcs,       data_stream_send,       50, 3000),
     SCHED_TASK_CLASS(AP_Baro,           &tracker.barometer, accumulate,     50,  900),
     SCHED_TASK(ten_hz_logging_loop,    10,    300),
 #if LOGGING_ENABLED == ENABLED
@@ -48,7 +48,7 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
 #endif
     SCHED_TASK_CLASS(AP_InertialSensor, &tracker.ins,       periodic,       50,   50),
     SCHED_TASK_CLASS(AP_Notify,         &tracker.notify,    update,         50,  100),
-    SCHED_TASK(gcs_retry_deferred,     50,   1000),
+    SCHED_TASK_CLASS(GCS,                 (GCS*)&tracker._gcs,       retry_deferred,         50, 1000),
     SCHED_TASK(one_second_loop,         1,   3900),
     SCHED_TASK(compass_cal_update,     50,    100),
     SCHED_TASK(accel_cal_update,       10,    100)
diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index 1f653b80b9..94467f7726 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@@ -573,8 +573,8 @@ void Tracker::mavlink_delay_cb()
     }
     if (tnow - last_50hz > 20) {
         last_50hz = tnow;
-        gcs_update();
-        gcs_data_stream_send();
+        gcs().update();
+        gcs().data_stream_send();
         notify.update();
     }
     if (tnow - last_5s > 5000) {
@@ -584,30 +584,6 @@ void Tracker::mavlink_delay_cb()
     DataFlash.EnableWrites(true);
 }
 
-/*
- *  send data streams in the given rate range on both links
- */
-void Tracker::gcs_data_stream_send(void)
-{
-    gcs().data_stream_send();
-}
-
-/*
- *  look for incoming commands on the GCS links
- */
-void Tracker::gcs_update(void)
-{
-    gcs().update();
-}
-
-/**
-   retry any deferred messages
- */
-void Tracker::gcs_retry_deferred(void)
-{
-    gcs().retry_deferred();
-}
-
 /*
   set_mode() wrapper for MAVLink SET_MODE
  */
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 8b12b2e07e..b2acd9202d 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -225,9 +225,6 @@ private:
     // GCS_Mavlink.cpp
     void send_extended_status1(mavlink_channel_t chan);
     void send_nav_controller_output(mavlink_channel_t chan);
-    void gcs_data_stream_send(void);
-    void gcs_update(void);
-    void gcs_retry_deferred(void);
 
     // Log.cpp
     void Log_Write_Attitude();