GCS_MAVLink: use gps singleton

libraries/GCS_MAVLink/GCS.h

@@ -161,8 +161,7 @@ public:
     void send_rangefinder_downward(const RangeFinder &rangefinder) const;
     bool send_proximity(const AP_Proximity &proximity) const;
     void send_ahrs2(AP_AHRS &ahrs);
-    bool send_gps_raw(AP_GPS &gps);
+    void send_system_time();
-    void send_system_time(AP_GPS &gps);
     void send_radio_in(uint8_t receiver_rssi);
     void send_raw_imu(const AP_InertialSensor &ins, const Compass &compass);
     void send_scaled_pressure(AP_Baro &barometer);
@@ -231,7 +230,6 @@ protected:
     virtual Compass *get_compass() const = 0;
     virtual class AP_Camera *get_camera() const = 0;
     virtual AP_ServoRelayEvents *get_servorelayevents() const = 0;
-    virtual AP_GPS *get_gps() const = 0;
     virtual AP_AdvancedFailsafe *get_advanced_failsafe() const { return nullptr; };
     virtual bool set_mode(uint8_t mode) = 0;
     virtual const AP_FWVersion &get_fwver() const = 0;

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -907,11 +907,11 @@ GCS_MAVLINK::update(uint32_t max_time_us)
 /*
   send the SYSTEM_TIME message
  */
-void GCS_MAVLINK::send_system_time(AP_GPS &gps)
+void GCS_MAVLINK::send_system_time()
 {
     mavlink_msg_system_time_send(
         chan,
-        gps.time_epoch_usec(),
+        AP::gps().time_epoch_usec(),
         AP_HAL::millis());
 }
 
@@ -1728,12 +1728,7 @@ void GCS_MAVLINK::handle_statustext(mavlink_message_t *msg)
 
 void GCS_MAVLINK::handle_common_gps_message(mavlink_message_t *msg)
 {
-    AP_GPS *gps = get_gps();
+    AP::gps().handle_msg(msg);
-    if (gps == nullptr) {
-        return;
-    }
-
-    gps->handle_msg(msg);
 }
 
 
@@ -2206,36 +2201,31 @@ void GCS_MAVLINK::send_hwstatus()
 
 bool GCS_MAVLINK::try_send_gps_message(const enum ap_message id)
 {
-    AP_GPS *gps = get_gps();
-    if (gps == nullptr) {
-        return true;
-    }
-
     bool ret = true;
     switch(id) {
     case MSG_SYSTEM_TIME:
         CHECK_PAYLOAD_SIZE(SYSTEM_TIME);
-        send_system_time(*gps);
+        send_system_time();
         ret = true;
         break;
     case MSG_GPS_RAW:
         CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
-        gps->send_mavlink_gps_raw(chan);
+        AP::gps().send_mavlink_gps_raw(chan);
         ret = true;
         break;
     case MSG_GPS_RTK:
         CHECK_PAYLOAD_SIZE(GPS_RTK);
-        gps->send_mavlink_gps_rtk(chan, 0);
+        AP::gps().send_mavlink_gps_rtk(chan, 0);
         ret = true;
         break;
     case MSG_GPS2_RAW:
         CHECK_PAYLOAD_SIZE(GPS2_RAW);
-        gps->send_mavlink_gps2_raw(chan);
+        AP::gps().send_mavlink_gps2_raw(chan);
         ret = true;
         break;
     case MSG_GPS2_RTK:
         CHECK_PAYLOAD_SIZE(GPS2_RTK);
-        gps->send_mavlink_gps_rtk(chan, 1);
+        AP::gps().send_mavlink_gps_rtk(chan, 1);
         ret = true;
         break;
     default:

libraries/GCS_MAVLink/GCS_Dummy.h

@@ -26,7 +26,6 @@ protected:
     Compass *get_compass() const override { return nullptr; };
     AP_Mission *get_mission() override { return nullptr; }
     AP_Rally *get_rally() const override { return nullptr; };
-    AP_GPS *get_gps() const override { return nullptr; };
     AP_Camera *get_camera() const override { return nullptr; };
     AP_ServoRelayEvents *get_servorelayevents() const override { return nullptr; }
     const AP_FWVersion &get_fwver() const override { return fwver; }

libraries/GCS_MAVLink/GCS_serial_control.cpp

@@ -40,8 +40,6 @@ void GCS_MAVLINK::handle_serial_control(const mavlink_message_t *msg)
         return;
     }
 
-    AP_GPS *gps = get_gps();
-
     bool exclusive = (packet.flags & SERIAL_CONTROL_FLAG_EXCLUSIVE) != 0;
 
     switch (packet.device) {
@@ -55,17 +53,11 @@ void GCS_MAVLINK::handle_serial_control(const mavlink_message_t *msg)
         break;
     case SERIAL_CONTROL_DEV_GPS1:
         stream = port = hal.uartB;
-        if (gps == nullptr) {
+        AP::gps().lock_port(0, exclusive);
-            return;
-        }
-        gps->lock_port(0, exclusive);
         break;
     case SERIAL_CONTROL_DEV_GPS2:
         stream = port = hal.uartE;
-        if (gps == nullptr) {
+        AP::gps().lock_port(1, exclusive);
-            return;
-        }
-        gps->lock_port(1, exclusive);
         break;
     case SERIAL_CONTROL_DEV_SHELL:
         stream = hal.util->get_shell_stream();

libraries/GCS_MAVLink/examples/routing/routing.cpp

@@ -35,7 +35,6 @@ protected:
     AP_Mission *get_mission() override { return nullptr; }
     AP_Rally *get_rally() const override { return nullptr; }
     AP_ServoRelayEvents *get_servorelayevents() const override { return nullptr; }
-    AP_GPS *get_gps() const override { return nullptr; };
     AP_Camera *get_camera() const override { return nullptr; };
     uint8_t sysid_my_gcs() const override { return 1; }
     bool set_mode(uint8_t mode) override { return false; };