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AP_RCTelemetry: remove some uses of gcs singleton

This commit is contained in:
Peter Barker 2023-09-27 20:30:15 +10:00 committed by Andrew Tridgell
parent af061d41ae
commit 0cc9484b2d
1 changed files with 7 additions and 7 deletions
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14
libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp
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@ -107,7 +107,7 @@ void AP_CRSF_Telem::setup_custom_telemetry()
// check if passthru already assigned
const int8_t frsky_port = AP::serialmanager().find_portnum(AP_SerialManager::SerialProtocol_FrSky_SPort_Passthrough,0);
if (frsky_port != -1) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "%s: passthrough telemetry conflict on SERIAL%d", get_protocol_string(), frsky_port);
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "%s: passthrough telemetry conflict on SERIAL%d", get_protocol_string(), frsky_port);
_custom_telem.init_done = true;
return;
}
@ -136,7 +136,7 @@ void AP_CRSF_Telem::setup_custom_telemetry()
// setup custom telemetry for current rf_mode
update_custom_telemetry_rates(_telem_rf_mode);
gcs().send_text(MAV_SEVERITY_DEBUG,"%s: custom telem init done, fw %d.%02d", get_protocol_string(), _crsf_version.major, _crsf_version.minor);
GCS_SEND_TEXT(MAV_SEVERITY_DEBUG,"%s: custom telem init done, fw %d.%02d", get_protocol_string(), _crsf_version.major, _crsf_version.minor);
_custom_telem.init_done = true;
}
@ -195,14 +195,14 @@ bool AP_CRSF_Telem::process_rf_mode_changes()
#if !defined (STM32H7)
// warn the user if their setup is sub-optimal, H7 does not need DMA on serial port
if (_telem_bootstrap_msg_pending && !uart->is_dma_enabled()) {
gcs().send_text(MAV_SEVERITY_WARNING, "%s: running on non-DMA serial port", get_protocol_string());
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "%s: running on non-DMA serial port", get_protocol_string());
}
#endif
// note if option was set to show LQ in place of RSSI
bool current_lq_as_rssi_active = rc().option_is_enabled(RC_Channels::Option::USE_CRSF_LQ_AS_RSSI);
if(_telem_bootstrap_msg_pending || _noted_lq_as_rssi_active != current_lq_as_rssi_active){
_noted_lq_as_rssi_active = current_lq_as_rssi_active;
gcs().send_text(MAV_SEVERITY_INFO, "%s: RSSI now displays %s", get_protocol_string(), current_lq_as_rssi_active ? " as LQ" : "normally");
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s: RSSI now displays %s", get_protocol_string(), current_lq_as_rssi_active ? " as LQ" : "normally");
}
_telem_bootstrap_msg_pending = false;
@ -210,7 +210,7 @@ bool AP_CRSF_Telem::process_rf_mode_changes()
if ((now - _telem_last_report_ms > 5000)) {
// report an RF mode change or a change in telemetry rate if we haven't done so in the last 5s
if (!rc().option_is_enabled(RC_Channels::Option::SUPPRESS_CRSF_MESSAGE) && (_telem_rf_mode != current_rf_mode || abs(int16_t(_telem_last_avg_rate) - int16_t(_scheduler.avg_packet_rate)) > 25)) {
gcs().send_text(MAV_SEVERITY_INFO, "%s: Link rate %dHz, Telemetry rate %dHz",
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s: Link rate %dHz, Telemetry rate %dHz",
get_protocol_string(), crsf->get_link_rate(_crsf_version.protocol), get_telemetry_rate());
}
// tune the scheduler based on telemetry speed high/low transitions
@ -465,10 +465,10 @@ void AP_CRSF_Telem::process_packet(uint8_t idx)
_crsf_version.minor = 0;
_crsf_version.major = 0;
disable_scheduler_entry(VERSION_PING);
gcs().send_text(MAV_SEVERITY_DEBUG,"%s: RX device ping failed", get_protocol_string());
GCS_SEND_TEXT(MAV_SEVERITY_DEBUG,"%s: RX device ping failed", get_protocol_string());
} else {
calc_device_ping(AP_RCProtocol_CRSF::CRSF_ADDRESS_CRSF_RECEIVER);
gcs().send_text(MAV_SEVERITY_DEBUG,"%s: requesting RX device info", get_protocol_string());
GCS_SEND_TEXT(MAV_SEVERITY_DEBUG,"%s: requesting RX device info", get_protocol_string());
}
break;
case DEVICE_PING: