Replace prog_char and prog_char_t with char

prog_char and prog_char_t are now the same as char on supported
platforms. So, just change all places that use them and prefer char
instead.

AVR-specific places were not changed.

APMrover2/GCS_Mavlink.cpp

@@ -1426,7 +1426,7 @@ void Rover::gcs_update(void)
     }
 }
 
-void Rover::gcs_send_text(MAV_SEVERITY severity, const prog_char_t *str)
+void Rover::gcs_send_text(MAV_SEVERITY severity, const char *str)
 {
     for (uint8_t i=0; i<num_gcs; i++) {
         if (gcs[i].initialised) {
@@ -1443,7 +1443,7 @@ void Rover::gcs_send_text(MAV_SEVERITY severity, const prog_char_t *str)
  *  only one fits in the queue, so if you send more than one before the
  *  last one gets into the serial buffer then the old one will be lost
  */
-void Rover::gcs_send_text_fmt(const prog_char_t *fmt, ...)
+void Rover::gcs_send_text_fmt(const char *fmt, ...)
 {
     va_list arg_list;
     gcs[0].pending_status.severity = (uint8_t)MAV_SEVERITY_WARNING;

APMrover2/Rover.h

@@ -399,7 +399,7 @@ private:
     void gcs_send_mission_item_reached_message(uint16_t mission_index);
     void gcs_data_stream_send(void);
     void gcs_update(void);
-    void gcs_send_text(MAV_SEVERITY severity, const prog_char_t *str);
+    void gcs_send_text(MAV_SEVERITY severity, const char *str);
     void gcs_retry_deferred(void);
 
     void do_erase_logs(void);
@@ -490,7 +490,7 @@ private:
     bool should_log(uint32_t mask);
     void frsky_telemetry_send(void);
     void print_hit_enter();    
-    void gcs_send_text_fmt(const prog_char_t *fmt, ...);
+    void gcs_send_text_fmt(const char *fmt, ...);
     void print_mode(AP_HAL::BetterStream *port, uint8_t mode);
     bool start_command(const AP_Mission::Mission_Command& cmd);
     bool verify_command(const AP_Mission::Mission_Command& cmd);

APMrover2/system.cpp

@@ -197,7 +197,7 @@ void Rover::init_ardupilot()
 	// menu; they must reset in order to fly.
 	//
     if (g.cli_enabled == 1) {
-        const prog_char_t *msg = "\nPress ENTER 3 times to start interactive setup\n";
+        const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
         cliSerial->println(msg);
         if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
             gcs[1].get_uart()->println(msg);

AntennaTracker/GCS_Mavlink.cpp

@@ -960,7 +960,7 @@ void Tracker::gcs_update(void)
     }
 }
 
-void Tracker::gcs_send_text(MAV_SEVERITY severity, const prog_char_t *str)
+void Tracker::gcs_send_text(MAV_SEVERITY severity, const char *str)
 {
     for (uint8_t i=0; i<num_gcs; i++) {
         if (gcs[i].initialised) {
@@ -977,7 +977,7 @@ void Tracker::gcs_send_text(MAV_SEVERITY severity, const prog_char_t *str)
  *  only one fits in the queue, so if you send more than one before the
  *  last one gets into the serial buffer then the old one will be lost
  */
-void Tracker::gcs_send_text_fmt(const prog_char_t *fmt, ...)
+void Tracker::gcs_send_text_fmt(const char *fmt, ...)
 {
     va_list arg_list;
     gcs[0].pending_status.severity = (uint8_t)MAV_SEVERITY_WARNING;

AntennaTracker/Tracker.h

@@ -202,7 +202,7 @@ private:
     void gcs_send_message(enum ap_message id);
     void gcs_data_stream_send(void);
     void gcs_update(void);
-    void gcs_send_text(MAV_SEVERITY severity, const prog_char_t *str);
+    void gcs_send_text(MAV_SEVERITY severity, const char *str);
     void gcs_retry_deferred(void);
     void load_parameters(void);
     void update_auto(void);
@@ -245,7 +245,7 @@ private:
     void tracking_update_pressure(const mavlink_scaled_pressure_t &msg);
     void tracking_manual_control(const mavlink_manual_control_t &msg);
     void update_armed_disarmed();
-    void gcs_send_text_fmt(const prog_char_t *fmt, ...);
+    void gcs_send_text_fmt(const char *fmt, ...);
     void init_capabilities(void);
     void compass_cal_update();
 

ArduCopter/Copter.h

@@ -610,7 +610,7 @@ private:
     void gcs_send_mission_item_reached_message(uint16_t mission_index);
     void gcs_data_stream_send(void);
     void gcs_check_input(void);
-    void gcs_send_text(MAV_SEVERITY severity, const prog_char_t *str);
+    void gcs_send_text(MAV_SEVERITY severity, const char *str);
     void do_erase_logs(void);
     void Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt);
     void Log_Write_AutoTuneDetails(float angle_cd, float rate_cds);
@@ -934,7 +934,7 @@ private:
     void takeoff_get_climb_rates(float& pilot_climb_rate, float& takeoff_climb_rate);
     void print_hit_enter();
     void tuning();
-    void gcs_send_text_fmt(const prog_char_t *fmt, ...);
+    void gcs_send_text_fmt(const char *fmt, ...);
     bool start_command(const AP_Mission::Mission_Command& cmd);
     bool verify_command(const AP_Mission::Mission_Command& cmd);
     bool verify_command_callback(const AP_Mission::Mission_Command& cmd);

ArduCopter/GCS_Mavlink.cpp

@@ -2030,7 +2030,7 @@ void Copter::gcs_check_input(void)
     }
 }
 
-void Copter::gcs_send_text(MAV_SEVERITY severity, const prog_char_t *str)
+void Copter::gcs_send_text(MAV_SEVERITY severity, const char *str)
 {
     for (uint8_t i=0; i<num_gcs; i++) {
         if (gcs[i].initialised) {
@@ -2044,7 +2044,7 @@ void Copter::gcs_send_text(MAV_SEVERITY severity, const prog_char_t *str)
  *  only one fits in the queue, so if you send more than one before the
  *  last one gets into the serial buffer then the old one will be lost
  */
-void Copter::gcs_send_text_fmt(const prog_char_t *fmt, ...)
+void Copter::gcs_send_text_fmt(const char *fmt, ...)
 {
     va_list arg_list;
     gcs[0].pending_status.severity = (uint8_t)MAV_SEVERITY_WARNING;

ArduCopter/system.cpp

@@ -219,7 +219,7 @@ void Copter::init_ardupilot()
 
 #if CLI_ENABLED == ENABLED
     if (g.cli_enabled) {
-        const prog_char_t *msg = "\nPress ENTER 3 times to start interactive setup\n";
+        const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
         cliSerial->println(msg);
         if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
             gcs[1].get_uart()->println(msg);

ArduPlane/GCS_Mavlink.cpp

@@ -1992,7 +1992,7 @@ void Plane::gcs_update(void)
     }
 }
 
-void Plane::gcs_send_text(MAV_SEVERITY severity, const prog_char_t *str)
+void Plane::gcs_send_text(MAV_SEVERITY severity, const char *str)
 {
     for (uint8_t i=0; i<num_gcs; i++) {
         if (gcs[i].initialised) {
@@ -2009,7 +2009,7 @@ void Plane::gcs_send_text(MAV_SEVERITY severity, const prog_char_t *str)
  *  only one fits in the queue, so if you send more than one before the
  *  last one gets into the serial buffer then the old one will be lost
  */
-void Plane::gcs_send_text_fmt(const prog_char_t *fmt, ...)
+void Plane::gcs_send_text_fmt(const char *fmt, ...)
 {
     va_list arg_list;
     gcs[0].pending_status.severity = (uint8_t)MAV_SEVERITY_WARNING;

ArduPlane/Plane.h

@@ -720,7 +720,7 @@ private:
     void gcs_send_mission_item_reached_message(uint16_t mission_index);
     void gcs_data_stream_send(void);
     void gcs_update(void);
-    void gcs_send_text(MAV_SEVERITY severity, const prog_char_t *str);
+    void gcs_send_text(MAV_SEVERITY severity, const char *str);
     void gcs_send_airspeed_calibration(const Vector3f &vg);
     void gcs_retry_deferred(void);
 
@@ -917,7 +917,7 @@ private:
     void update_aux();
     void update_is_flying_5Hz(void);
     void crash_detection_update(void);
-    void gcs_send_text_fmt(const prog_char_t *fmt, ...);
+    void gcs_send_text_fmt(const char *fmt, ...);
     void handle_auto_mode(void);
     void calc_throttle();
     void calc_nav_roll();

ArduPlane/system.cpp

@@ -228,7 +228,7 @@ void Plane::init_ardupilot()
 
 #if CLI_ENABLED == ENABLED
     if (g.cli_enabled == 1) {
-        const prog_char_t *msg = "\nPress ENTER 3 times to start interactive setup\n";
+        const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
         cliSerial->println(msg);
         if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
             gcs[1].get_uart()->println(msg);

libraries/APM_Control/AP_AutoTune.cpp

@@ -267,7 +267,7 @@ void AP_AutoTune::check_save(void)
 /*
   log a parameter change from autotune
  */
-void AP_AutoTune::log_param_change(float v, const prog_char_t *suffix)
+void AP_AutoTune::log_param_change(float v, const char *suffix)
 {
     if (!dataflash.logging_started()) {
         return;
@@ -288,7 +288,7 @@ void AP_AutoTune::log_param_change(float v, const prog_char_t *suffix)
   set a float and save a float if it has changed by more than
   0.1%. This reduces the number of insignificant EEPROM writes
  */
-void AP_AutoTune::save_float_if_changed(AP_Float &v, float value, const prog_char_t *suffix)
+void AP_AutoTune::save_float_if_changed(AP_Float &v, float value, const char *suffix)
 {
     float old_value = v.get();
     v.set(value);
@@ -301,7 +301,7 @@ void AP_AutoTune::save_float_if_changed(AP_Float &v, float value, const prog_cha
 /*
   set a int16 and save if changed
  */
-void AP_AutoTune::save_int16_if_changed(AP_Int16 &v, int16_t value, const prog_char_t *suffix)
+void AP_AutoTune::save_int16_if_changed(AP_Int16 &v, int16_t value, const char *suffix)
 {
     int16_t old_value = v.get();
     v.set(value);

libraries/APM_Control/AP_AutoTune.h

@@ -96,9 +96,9 @@ private:
     void write_log_headers(void);
     void write_log(float servo, float demanded, float achieved);
 
-    void log_param_change(float v, const prog_char_t *suffix);
+    void log_param_change(float v, const char *suffix);
-    void save_float_if_changed(AP_Float &v, float value, const prog_char_t *suffix);
+    void save_float_if_changed(AP_Float &v, float value, const char *suffix);
-    void save_int16_if_changed(AP_Int16 &v, int16_t value, const prog_char_t *suffix);        
+    void save_int16_if_changed(AP_Int16 &v, int16_t value, const char *suffix);
 };
 
 #endif // __AP_AUTOTUNE_H__

libraries/AP_Declination/AP_Declination.cpp

@@ -204,7 +204,7 @@ AP_Declination::get_lookup_value(uint8_t x, uint8_t y)
     for(i = start_index; i < (start_index + PGM_UINT8(&declination_keys[1][x])) && current_virtual_index <= y; i++) {
 
         // Pull out the row_value struct
-        memcpy((void*) &stval, (const prog_char *)&declination_values[i], sizeof(struct row_value));
+        memcpy((void*) &stval, (const char *)&declination_values[i], sizeof(struct row_value));
 
         // Pull the first offset and determine sign
         offset = stval.abs_offset;

libraries/AP_GPS/AP_GPS.cpp

@@ -145,14 +145,14 @@ const uint32_t AP_GPS::_baudrates[] = {4800U, 38400U, 115200U, 57600U, 9600U, 23
 
 // initialisation blobs to send to the GPS to try to get it into the
 // right mode
-const prog_char AP_GPS::_initialisation_blob[] = UBLOX_SET_BINARY MTK_SET_BINARY SIRF_SET_BINARY;
+const char AP_GPS::_initialisation_blob[] = UBLOX_SET_BINARY MTK_SET_BINARY SIRF_SET_BINARY;
-const prog_char AP_GPS::_initialisation_raw_blob[] = UBLOX_SET_BINARY_RAW_BAUD MTK_SET_BINARY SIRF_SET_BINARY;
+const char AP_GPS::_initialisation_raw_blob[] = UBLOX_SET_BINARY_RAW_BAUD MTK_SET_BINARY SIRF_SET_BINARY;
 
 /*
   send some more initialisation string bytes if there is room in the
   UART transmit buffer
  */
-void AP_GPS::send_blob_start(uint8_t instance, const prog_char *_blob, uint16_t size)
+void AP_GPS::send_blob_start(uint8_t instance, const char *_blob, uint16_t size)
 {
     initblob_state[instance].blob = _blob;
     initblob_state[instance].remaining = size;

libraries/AP_GPS/AP_GPS.h

@@ -352,7 +352,7 @@ public:
     AP_Int8 _gnss_mode;
     
     // handle sending of initialisation strings to the GPS
-    void send_blob_start(uint8_t instance, const prog_char *_blob, uint16_t size);
+    void send_blob_start(uint8_t instance, const char *_blob, uint16_t size);
     void send_blob_update(uint8_t instance);
 
     // lock out a GPS port, allowing another application to use the port
@@ -413,13 +413,13 @@ private:
     } detect_state[GPS_MAX_INSTANCES];
 
     struct {
-        const prog_char *blob;
+        const char *blob;
         uint16_t remaining;
     } initblob_state[GPS_MAX_INSTANCES];
 
     static const uint32_t  _baudrates[];
-    static const prog_char _initialisation_blob[];
+    static const char _initialisation_blob[];
-    static const prog_char _initialisation_raw_blob[];
+    static const char _initialisation_raw_blob[];
 
     void detect_instance(uint8_t instance);
     void update_instance(uint8_t instance);

libraries/AP_GPS/AP_GPS_MTK.cpp

@@ -26,7 +26,7 @@
 
 // initialisation blobs to send to the GPS to try to get it into the
 // right mode
-const prog_char AP_GPS_MTK::_initialisation_blob[] = MTK_OUTPUT_5HZ SBAS_ON WAAS_ON MTK_NAVTHRES_OFF;
+const char AP_GPS_MTK::_initialisation_blob[] = MTK_OUTPUT_5HZ SBAS_ON WAAS_ON MTK_NAVTHRES_OFF;
 
 AP_GPS_MTK::AP_GPS_MTK(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port) :
     AP_GPS_Backend(_gps, _state, _port),

libraries/AP_GPS/AP_GPS_MTK.h

@@ -78,7 +78,7 @@ private:
     // Buffer parse & GPS state update
     void        _parse_gps();
 
-    static const prog_char _initialisation_blob[];
+    static const char _initialisation_blob[];
 };
 
 #endif  // __AP_GPS_MTK_H__

libraries/AP_GPS/AP_GPS_NMEA.cpp

@@ -90,7 +90,7 @@ extern const AP_HAL::HAL& hal;
     "$PUBX,40,vtg,0,1,0,0,0,0*7F\r\n"   /* VTG on at one per fix */ \
     "$PUBX,40,rmc,0,0,0,0,0,0*67\r\n"   /* RMC off (XXX suppress other message types?) */
 
-const prog_char AP_GPS_NMEA::_initialisation_blob[] = SIRF_INIT_MSG MTK_INIT_MSG UBLOX_INIT_MSG;
+const char AP_GPS_NMEA::_initialisation_blob[] = SIRF_INIT_MSG MTK_INIT_MSG UBLOX_INIT_MSG;
 
 // NMEA message identifiers ////////////////////////////////////////////////////
 //

libraries/AP_GPS/AP_GPS_NMEA.h

@@ -148,19 +148,19 @@ private:
     ///			unit to send just the messages that we are interested
     ///			in using these strings
     //@{
-    static const prog_char _SiRF_init_string[];         ///< init string for SiRF units
+    static const char _SiRF_init_string[];         ///< init string for SiRF units
-    static const prog_char _MTK_init_string[];                  ///< init string for MediaTek units
+    static const char _MTK_init_string[];                  ///< init string for MediaTek units
-    static const prog_char _ublox_init_string[];        ///< init string for ublox units
+    static const char _ublox_init_string[];        ///< init string for ublox units
     //@}
 
     /// @name	GPS message identifier strings
     //@{
-    static const prog_char _gprmc_string[];
+    static const char _gprmc_string[];
-    static const prog_char _gpgga_string[];
+    static const char _gpgga_string[];
-    static const prog_char _gpvtg_string[];
+    static const char _gpvtg_string[];
     //@}
 
-    static const prog_char _initialisation_blob[];
+    static const char _initialisation_blob[];
 };
 
 #endif // __AP_GPS_NMEA_H__

libraries/AP_GPS/AP_GPS_SIRF.cpp

@@ -41,7 +41,7 @@ AP_GPS_SIRF::AP_GPS_SIRF(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDr
     _payload_counter(0),
     _msg_id(0)
 {
-    gps.send_blob_start(state.instance, (const prog_char *)_initialisation_blob, sizeof(_initialisation_blob));
+    gps.send_blob_start(state.instance, (const char *)_initialisation_blob, sizeof(_initialisation_blob));
 }
 
 

libraries/AP_HAL/Scheduler.h

@@ -57,7 +57,7 @@ public:
     virtual bool     system_initializing() = 0;
     virtual void     system_initialized() = 0;
 
-    virtual void     panic(const prog_char_t *errormsg, ...) FORMAT(2, 3) NORETURN = 0;
+    virtual void     panic(const char *errormsg, ...) FORMAT(2, 3) NORETURN = 0;
     virtual void     reboot(bool hold_in_bootloader) = 0;
 
     /**

libraries/AP_HAL/UARTDriver.cpp

@@ -25,14 +25,14 @@
    all boards, although they can be overridden by a port
  */
 
-void AP_HAL::UARTDriver::print_P(const prog_char_t *s) 
+void AP_HAL::UARTDriver::print_P(const char *s)
 {
     char    c;
-    while ('\0' != (c = pgm_read_byte((const prog_char *)s++)))
+    while ('\0' != (c = pgm_read_byte((const char *)s++)))
         write(c);
 }
 
-void AP_HAL::UARTDriver::println_P(const prog_char_t *s) 
+void AP_HAL::UARTDriver::println_P(const char *s)
 {
     print_P(s);
     println();
@@ -51,7 +51,7 @@ void AP_HAL::UARTDriver::vprintf(const char *fmt, va_list ap)
     print_vprintf((AP_HAL::Print*)this, 0, fmt, ap);
 }
 
-void AP_HAL::UARTDriver::_printf_P(const prog_char *fmt, ...) 
+void AP_HAL::UARTDriver::_printf_P(const char *fmt, ...)
 {
     va_list ap;
     va_start(ap, fmt);
@@ -59,7 +59,7 @@ void AP_HAL::UARTDriver::_printf_P(const prog_char *fmt, ...)
     va_end(ap);
 }
 
-void AP_HAL::UARTDriver::vprintf_P(const prog_char *fmt, va_list ap) 
+void AP_HAL::UARTDriver::vprintf_P(const char *fmt, va_list ap)
 {
     print_vprintf((AP_HAL::Print*)this, 1, fmt, ap);
 }

libraries/AP_HAL/UARTDriver.h

@@ -51,13 +51,13 @@ public:
      * provided by AP_HAL to ensure consistency between ports to
      * different boards
      */
-    void print_P(const prog_char_t *s);
+    void print_P(const char *s);
-    void println_P(const prog_char_t *s);
+    void println_P(const char *s);
     void printf(const char *s, ...) FORMAT(2, 3);
-    void _printf_P(const prog_char *s, ...) FORMAT(2, 3);
+    void _printf_P(const char *s, ...) FORMAT(2, 3);
 
     void vprintf(const char *s, va_list ap);
-    void vprintf_P(const prog_char *s, va_list ap);
+    void vprintf_P(const char *s, va_list ap);
 };
 
 #endif // __AP_HAL_UART_DRIVER_H__

libraries/AP_HAL/utility/BetterStream.h

@@ -25,7 +25,7 @@
 
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL_Namespace.h>
-/* prog_char_t: */
+/* char: */
 #include <AP_Progmem/AP_Progmem.h>
 
 #include "Stream.h"
@@ -36,25 +36,22 @@
  * on _vprintf(). 
  * Please provide your own platform-specic implementation of vprintf, sprintf,
  * etc. to implement the printf functions.
- *
- * TODO: Segregate prog_char_t dependent functions to be available on AVR
- * platform only, with default implementations elsewhere.
  */
 
 class AP_HAL::BetterStream : public AP_HAL::Stream {
 public:
     BetterStream(void) {}
 
-    virtual void print_P(const prog_char_t *) = 0; 
+    virtual void print_P(const char *) = 0;
-    virtual void println_P(const prog_char_t *) = 0;
+    virtual void println_P(const char *) = 0;
     virtual void printf(const char *, ...) FORMAT(2, 3) = 0;
     /* No format checking on printf_P: can't currently support that on AVR */
-    virtual void _printf_P(const prog_char *, ...) = 0;
+    virtual void _printf_P(const char *, ...) = 0;
 
-#define printf_P(fmt, ...) _printf_P((const prog_char *)fmt, ## __VA_ARGS__)
+#define printf_P(fmt, ...) _printf_P((const char *)fmt, ## __VA_ARGS__)
     
     virtual void vprintf(const char *, va_list) = 0;
-    virtual void vprintf_P(const prog_char *, va_list) = 0;
+    virtual void vprintf_P(const char *, va_list) = 0;
 };
 
 #endif // __AP_HAL_UTILITY_BETTERSTREAM_H__

libraries/AP_HAL/utility/ftoa_engine.cpp

@@ -33,7 +33,7 @@
 #include "ftoa_engine.h"
 #include <stdint.h>
 
-#define PGM_INT8(addr) (int8_t)pgm_read_byte((const prog_char *)addr)
+#define PGM_INT8(addr) (int8_t)pgm_read_byte((const char *)addr)
 #define PGM_UINT32(addr) pgm_read_dword((const uint32_t *)addr)
 
 /*

libraries/AP_HAL/utility/print_vprintf.cpp

@@ -223,10 +223,10 @@ void print_vprintf (AP_HAL::Print *s, unsigned char in_progmem, const char *fmt,
                                 }
                                 if (sign)
                                         s->write(sign);
-                                const prog_char_t *p = "inf";
+                                const char *p = "inf";
                                 if (vtype & FTOA_NAN)
                                         p = "nan";
-                                while ( (ndigs = pgm_read_byte((const prog_char *)p)) != 0) {
+                                while ( (ndigs = pgm_read_byte((const char *)p)) != 0) {
                                         if (flags & FL_FLTUPP)
                                                 ndigs += 'I' - 'i';
                                         s->write(ndigs);

libraries/AP_HAL_Empty/Scheduler.cpp

@@ -71,7 +71,7 @@ bool EmptyScheduler::system_initializing() {
 void EmptyScheduler::system_initialized()
 {}
 
-void EmptyScheduler::panic(const prog_char_t *errormsg, ...)
+void EmptyScheduler::panic(const char *errormsg, ...)
 {
     va_list ap;
 

libraries/AP_HAL_Empty/Scheduler.h

@@ -32,7 +32,7 @@ public:
     bool     system_initializing();
     void     system_initialized();
 
-    void     panic(const prog_char_t *errormsg, ...) FORMAT(2, 3) NORETURN;
+    void     panic(const char *errormsg, ...) FORMAT(2, 3) NORETURN;
     void     reboot(bool hold_in_bootloader);
 
 };

libraries/AP_HAL_FLYMAPLE/Scheduler.cpp

@@ -230,7 +230,7 @@ void FLYMAPLEScheduler::system_initialized()
     _initialized = true;
 }
 
-void FLYMAPLEScheduler::panic(const prog_char_t *errormsg, ...) {
+void FLYMAPLEScheduler::panic(const char *errormsg, ...) {
     /* Suspend timer processes. We still want the timer event to go off
      * to run the _failsafe code, however. */
     // REVISIT: not tested on FLYMAPLE

libraries/AP_HAL_FLYMAPLE/Scheduler.h

@@ -53,7 +53,7 @@ public:
     bool     system_initializing();
     void     system_initialized();
 
-    void     panic(const prog_char_t *errormsg, ...) FORMAT(2, 3) NORETURN;
+    void     panic(const char *errormsg, ...) FORMAT(2, 3) NORETURN;
     void     reboot(bool hold_in_bootloader);
 
 private:

libraries/AP_HAL_Linux/Scheduler.cpp

@@ -407,7 +407,7 @@ void *Scheduler::_io_thread(void* arg)
     return NULL;
 }
 
-void Scheduler::panic(const prog_char_t *errormsg, ...)
+void Scheduler::panic(const char *errormsg, ...)
 {
     va_list ap;
 

libraries/AP_HAL_Linux/Scheduler.h

@@ -43,7 +43,7 @@ public:
     bool     system_initializing();
     void     system_initialized();
 
-    void     panic(const prog_char_t *errormsg, ...) FORMAT(2, 3) NORETURN;
+    void     panic(const char *errormsg, ...) FORMAT(2, 3) NORETURN;
     void     reboot(bool hold_in_bootloader);
 
     void     stop_clock(uint64_t time_usec);

libraries/AP_HAL_PX4/Scheduler.cpp

@@ -374,7 +374,7 @@ void *PX4Scheduler::_storage_thread(void)
     return NULL;
 }
 
-void PX4Scheduler::panic(const prog_char_t *errormsg, ...)
+void PX4Scheduler::panic(const char *errormsg, ...)
 {
     va_list ap;
 

libraries/AP_HAL_PX4/Scheduler.h

@@ -60,7 +60,7 @@ public:
     void     suspend_timer_procs();
     void     resume_timer_procs();
     void     reboot(bool hold_in_bootloader);
-    void     panic(const prog_char_t *errormsg, ...) FORMAT(2, 3) NORETURN;
+    void     panic(const char *errormsg, ...) FORMAT(2, 3) NORETURN;
 
     bool     in_timerprocess();
     bool     system_initializing();

libraries/AP_HAL_SITL/Scheduler.cpp

@@ -259,7 +259,7 @@ void SITLScheduler::_run_io_procs(bool called_from_isr)
     _in_io_proc = false;
 }
 
-void SITLScheduler::panic(const prog_char_t *errormsg, ...)
+void SITLScheduler::panic(const char *errormsg, ...)
 {
     va_list ap;
 

libraries/AP_HAL_SITL/Scheduler.h

@@ -41,7 +41,7 @@ public:
     void     system_initialized();
 
     void     reboot(bool hold_in_bootloader);
-    void     panic(const prog_char_t *errormsg, ...) FORMAT(2, 3) NORETURN;
+    void     panic(const char *errormsg, ...) FORMAT(2, 3) NORETURN;
 
     bool     interrupts_are_blocked(void) {
         return _nested_atomic_ctr != 0;

libraries/AP_HAL_VRBRAIN/Scheduler.cpp

@@ -325,7 +325,7 @@ void *VRBRAINScheduler::_io_thread(void)
     return NULL;
 }
 
-void VRBRAINScheduler::panic(const prog_char_t *errormsg, ...)
+void VRBRAINScheduler::panic(const char *errormsg, ...)
 {
     va_list ap;
 

libraries/AP_HAL_VRBRAIN/Scheduler.h

@@ -39,7 +39,7 @@ public:
     void     suspend_timer_procs();
     void     resume_timer_procs();
     void     reboot(bool hold_in_bootloader);
-    void     panic(const prog_char_t *errormsg, ...) FORMAT(2, 3) NORETURN;
+    void     panic(const char *errormsg, ...) FORMAT(2, 3) NORETURN;
 
     bool     in_timerprocess();
     bool     system_initializing();

libraries/AP_InertialSensor/AP_InertialSensor.cpp

@@ -593,7 +593,7 @@ bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract* interact
 
     // capture data from 6 positions
     for (uint8_t i=0; i<6; i++) {
-        const prog_char_t *msg;
+        const char *msg;
 
         // display message to user
         switch ( i ) {

libraries/AP_Limits/AP_Limit_Module.cpp

@@ -10,7 +10,7 @@
 
 #include "AP_Limit_Module.h"
 
-extern const prog_char_t *get_module_name(enum moduleid i) {
+extern const char *get_module_name(enum moduleid i) {
 
     switch (i) {
     case AP_LIMITS_GPSLOCK:

libraries/AP_Limits/AP_Limit_Module.h

@@ -25,7 +25,7 @@ enum moduleid {
     AP_LIMITS_ALTITUDE   = (1 << 2)
 };
 
-extern const prog_char_t *get_module_name(enum moduleid i);
+extern const char *get_module_name(enum moduleid i);
 
 // an integer type big enough to fit a bit field for all modules.
 // We have 3 modules, so 8-bit int is enough.

libraries/AP_Menu/AP_Menu.cpp

@@ -23,7 +23,7 @@ AP_HAL::BetterStream *Menu::_port;
 
 
 // constructor
-Menu::Menu(const prog_char *prompt, const Menu::command *commands, uint8_t entries, preprompt ppfunc) :
+Menu::Menu(const char *prompt, const Menu::command *commands, uint8_t entries, preprompt ppfunc) :
     _prompt(prompt),
     _commands(commands),
     _entries(entries),

libraries/AP_Menu/AP_Menu.h

@@ -126,7 +126,7 @@ private:
     ///
     int8_t                  _call(uint8_t n, uint8_t argc);
 
-    const prog_char *       _prompt;                                                    ///< prompt to display
+    const char *            _prompt;                                                    ///< prompt to display
     const command *         _commands;                                                  ///< array of commands
     const uint8_t           _entries;                                                   ///< size of the menu
     const preprompt         _ppfunc;                                                    ///< optional pre-prompt action

libraries/AP_Param/AP_Param.cpp

@@ -43,7 +43,7 @@ extern const AP_HAL::HAL &hal;
 #endif
 
 // some useful progmem macros
-#define PGM_UINT8(addr) pgm_read_byte((const prog_char *)addr)
+#define PGM_UINT8(addr) pgm_read_byte((const char *)addr)
 #define PGM_UINT16(addr) pgm_read_word((const uint16_t *)addr)
 #define PGM_FLOAT(addr) pgm_read_float((const float *)addr)
 #define PGM_POINTER(addr) pgm_read_pointer((const void *)addr)

libraries/DataFlash/DFMessageWriter.cpp

@@ -144,7 +144,7 @@ void DFMessageWriter_WriteSysInfo::process() {
     _finished = true;  // all done!
 }
 
-// void DataFlash_Class::Log_Write_SysInfo(const prog_char_t *firmware_string)
+// void DataFlash_Class::Log_Write_SysInfo(const char *firmware_string)
 // {
 //     DFMessageWriter_WriteSysInfo writer(firmware_string);
 //     writer->process();

libraries/DataFlash/DFMessageWriter.h

@@ -24,7 +24,7 @@ protected:
 class DFMessageWriter_WriteSysInfo : public DFMessageWriter {
 public:
     DFMessageWriter_WriteSysInfo(DataFlash_Class &DataFlash,
-                                 const prog_char_t *firmware_string) :
+                                 const char *firmware_string) :
         DFMessageWriter(DataFlash),
         _firmware_string(firmware_string)
         { }
@@ -41,7 +41,7 @@ private:
     };
     write_sysinfo_blockwriter_stage stage;
 
-    const prog_char_t *_firmware_string;
+    const char *_firmware_string;
 };
 
 class DFMessageWriter_WriteEntireMission : public DFMessageWriter {
@@ -70,7 +70,7 @@ private:
 class DFMessageWriter_DFLogStart : public DFMessageWriter {
 public:
     DFMessageWriter_DFLogStart(DataFlash_Class &DataFlash,
-                               const prog_char_t *firmware_string) :
+                               const char *firmware_string) :
         DFMessageWriter{DataFlash},
         _writesysinfo(DataFlash, firmware_string),
         _writeentiremission(DataFlash)

libraries/DataFlash/DataFlash.h

@@ -38,7 +38,7 @@ class DataFlash_Class
 public:
     FUNCTOR_TYPEDEF(print_mode_fn, void, AP_HAL::BetterStream*, uint8_t);
     FUNCTOR_TYPEDEF(vehicle_startup_message_Log_Writer, void);
-    DataFlash_Class(const prog_char_t *firmware_string) :
+    DataFlash_Class(const char *firmware_string) :
         _startup_messagewriter(DFMessageWriter_DFLogStart(*this,firmware_string)),
         _vehicle_messages(NULL)
         { }
@@ -85,7 +85,7 @@ public:
     uint16_t StartNewLog(void);
     void AddLogFormats(const struct LogStructure *structures, uint8_t num_types);
     void EnableWrites(bool enable);
-    void Log_Write_SysInfo(const prog_char_t *firmware_string);
+    void Log_Write_SysInfo(const char *firmware_string);
     bool Log_Write_Format(const struct LogStructure *structure);
     bool Log_Write_Parameter(const char *name, float value);
     void Log_Write_GPS(const AP_GPS &gps, uint8_t instance, int32_t relative_alt);

libraries/DataFlash/LogFile.cpp

@@ -293,7 +293,7 @@ uint16_t DataFlash_Block::find_last_page_of_log(uint16_t log_number)
     return -1;
 }
 
-#define PGM_UINT8(addr) pgm_read_byte((const prog_char *)addr)
+#define PGM_UINT8(addr) pgm_read_byte((const char *)addr)
 
 #ifndef DATAFLASH_NO_CLI
 /*
@@ -1014,7 +1014,7 @@ void DataFlash_Class::Log_Write_Vibration(const AP_InertialSensor &ins)
     WriteBlock(&pkt, sizeof(pkt));
 }
 
-void DataFlash_Class::Log_Write_SysInfo(const prog_char_t *firmware_string)
+void DataFlash_Class::Log_Write_SysInfo(const char *firmware_string)
 {
     Log_Write_Message(firmware_string);
 
@@ -1060,7 +1060,6 @@ bool DataFlash_Class::Log_Write_Message(const char *message)
     return WriteCriticalBlock(&pkt, sizeof(pkt));
 }
 
-// Write a POWR packet
 void DataFlash_Class::Log_Write_Power(void)
 {
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4

libraries/GCS_MAVLink/GCS.h

@@ -164,7 +164,7 @@ public:
       connections. This function is static so it can be called from
       any library
     */
-    static void send_statustext_all(MAV_SEVERITY severity, const prog_char_t *fmt, ...);
+    static void send_statustext_all(MAV_SEVERITY severity, const char *fmt, ...);
 
     /*
       send a MAVLink message to all components with this vehicle's system id

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -1172,7 +1172,7 @@ void GCS_MAVLINK::send_ahrs(AP_AHRS &ahrs)
 /*
   send a statustext message to all active MAVLink connections
  */
-void GCS_MAVLINK::send_statustext_all(MAV_SEVERITY severity, const prog_char_t *fmt, ...)
+void GCS_MAVLINK::send_statustext_all(MAV_SEVERITY severity, const char *fmt, ...)
 {
     for (uint8_t i=0; i<MAVLINK_COMM_NUM_BUFFERS; i++) {
         if ((1U<<i) & mavlink_active) {