From 154b212545f2a823917da8d97f9389eb58225034 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 17 Aug 2017 20:04:42 +1000
Subject: [PATCH] GCS_MAVLink: move serial_control case to base class

---
 libraries/GCS_MAVLink/GCS.h                  |  2 +-
 libraries/GCS_MAVLink/GCS_Common.cpp         |  4 ++++
 libraries/GCS_MAVLink/GCS_serial_control.cpp | 14 +++++++++++---
 3 files changed, 16 insertions(+), 4 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 73dadb4627..7f1d6f66e0 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -267,7 +267,7 @@ protected:
     void handle_common_camera_message(const mavlink_message_t *msg);
     void handle_gimbal_report(AP_Mount &mount, mavlink_message_t *msg) const;
     void handle_radio_status(mavlink_message_t *msg, DataFlash_Class &dataflash, bool log_radio);
-    void handle_serial_control(mavlink_message_t *msg, AP_GPS &gps);
+    void handle_serial_control(const mavlink_message_t *msg);
 
     void handle_common_message(mavlink_message_t *msg);
     void handle_setup_signing(const mavlink_message_t *msg);
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index df85ff2f95..2e8df732e4 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1832,6 +1832,10 @@ void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg)
         handle_common_mission_message(msg);
         break;
 
+    case MAVLINK_MSG_ID_SERIAL_CONTROL:
+        handle_serial_control(msg);
+        break;
+
     case MAVLINK_MSG_ID_GPS_RTCM_DATA:
         /* fall through */
     case MAVLINK_MSG_ID_GPS_INPUT:
diff --git a/libraries/GCS_MAVLink/GCS_serial_control.cpp b/libraries/GCS_MAVLink/GCS_serial_control.cpp
index 75fc2ca34a..8ab05d0911 100644
--- a/libraries/GCS_MAVLink/GCS_serial_control.cpp
+++ b/libraries/GCS_MAVLink/GCS_serial_control.cpp
@@ -27,7 +27,7 @@ extern const AP_HAL::HAL& hal;
 /**
    handle a SERIAL_CONTROL message
  */
-void GCS_MAVLINK::handle_serial_control(mavlink_message_t *msg, AP_GPS &gps)
+void GCS_MAVLINK::handle_serial_control(const mavlink_message_t *msg)
 {
     mavlink_serial_control_t packet;
     mavlink_msg_serial_control_decode(msg, &packet);
@@ -40,6 +40,8 @@ void GCS_MAVLINK::handle_serial_control(mavlink_message_t *msg, AP_GPS &gps)
         return;
     }
 
+    AP_GPS *gps = get_gps();
+
     bool exclusive = (packet.flags & SERIAL_CONTROL_FLAG_EXCLUSIVE) != 0;
 
     switch (packet.device) {
@@ -53,11 +55,17 @@ void GCS_MAVLINK::handle_serial_control(mavlink_message_t *msg, AP_GPS &gps)
         break;
     case SERIAL_CONTROL_DEV_GPS1:
         stream = port = hal.uartB;
-        gps.lock_port(0, exclusive);
+        if (gps == nullptr) {
+            return;
+        }
+        gps->lock_port(0, exclusive);
         break;
     case SERIAL_CONTROL_DEV_GPS2:
         stream = port = hal.uartE;
-        gps.lock_port(1, exclusive);
+        if (gps == nullptr) {
+            return;
+        }
+        gps->lock_port(1, exclusive);
         break;
     case SERIAL_CONTROL_DEV_SHELL:
         stream = hal.util->get_shell_stream();