From 1544a92f8be0f14b4604f4fc3642b0a463671e8c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 19 Aug 2017 21:23:19 +1000
Subject: [PATCH] GCS_MAVLink: factor out a send_banner

---
 libraries/GCS_MAVLink/GCS.h          |  3 +++
 libraries/GCS_MAVLink/GCS_Common.cpp | 16 ++++++++++++++++
 libraries/GCS_MAVLink/GCS_Param.cpp  | 19 ++++++-------------
 3 files changed, 25 insertions(+), 13 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 9d022d04e3..bea297f72b 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -263,6 +263,7 @@ protected:
     void handle_param_set(mavlink_message_t *msg);
     void handle_param_request_list(mavlink_message_t *msg);
     void handle_param_request_read(mavlink_message_t *msg);
+    virtual bool params_ready() const { return true; }
 
     void handle_common_gps_message(mavlink_message_t *msg);
     void handle_common_rally_message(mavlink_message_t *msg);
@@ -282,6 +283,8 @@ protected:
     void handle_send_autopilot_version(const mavlink_message_t *msg);
     MAV_RESULT handle_command_request_autopilot_capabilities(const mavlink_command_long_t &packet);
 
+    virtual void send_banner();
+
     void handle_device_op_read(mavlink_message_t *msg);
     void handle_device_op_write(mavlink_message_t *msg);
 
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index e340fd6aeb..f644bbc497 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1959,6 +1959,22 @@ void GCS_MAVLINK::handle_send_autopilot_version(const mavlink_message_t *msg)
     send_autopilot_version(fwver.major, fwver.minor, fwver.patch, fwver.fw_type);
 }
 
+void GCS_MAVLINK::send_banner()
+{
+    // mark the firmware version in the tlog
+    const AP_FWVersion &fwver = get_fwver();
+    send_text(MAV_SEVERITY_INFO, fwver.fw_string);
+
+#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
+    send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
+#endif
+
+    // send system ID if we can
+    char sysid[40];
+    if (hal.util->get_system_id(sysid)) {
+        send_text(MAV_SEVERITY_INFO, sysid);
+    }
+}
 
 
 MAV_RESULT GCS_MAVLINK::handle_command_preflight_set_sensor_offsets(const mavlink_command_long_t &packet)
diff --git a/libraries/GCS_MAVLink/GCS_Param.cpp b/libraries/GCS_MAVLink/GCS_Param.cpp
index 82c72592ab..dfae9b8c7a 100644
--- a/libraries/GCS_MAVLink/GCS_Param.cpp
+++ b/libraries/GCS_MAVLink/GCS_Param.cpp
@@ -188,22 +188,15 @@ void GCS_MAVLINK::handle_request_data_stream(mavlink_message_t *msg, bool save)
 
 void GCS_MAVLINK::handle_param_request_list(mavlink_message_t *msg)
 {
+    if (!params_ready()) {
+        return;
+    }
+
     mavlink_param_request_list_t packet;
     mavlink_msg_param_request_list_decode(msg, &packet);
 
-    // mark the firmware version in the tlog
-    const AP_FWVersion &fwver = get_fwver();
-    send_text(MAV_SEVERITY_INFO, fwver.fw_string);
-
-#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
-    send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
-#endif
-
-    // send system ID if we can
-    char sysid[40];
-    if (hal.util->get_system_id(sysid)) {
-        send_text(MAV_SEVERITY_INFO, sysid);
-    }
+    // requesting parameters is a convenient way to get extra information
+    send_banner();
 
     // Start sending parameters - next call to ::update will kick the first one out
     _queued_parameter = AP_Param::first(&_queued_parameter_token, &_queued_parameter_type);