From 2f159288e2f675b5de985d8034ce4b121c95ec87 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 12 Feb 2020 12:01:17 +1100
Subject: [PATCH] AntennaTracker: move initialisation of serial and gcs to
 AP_Vehicle

---
 AntennaTracker/GCS_Tracker.cpp |  5 +++++
 AntennaTracker/GCS_Tracker.h   |  2 ++
 AntennaTracker/system.cpp      | 10 ----------
 3 files changed, 7 insertions(+), 10 deletions(-)

diff --git a/AntennaTracker/GCS_Tracker.cpp b/AntennaTracker/GCS_Tracker.cpp
index 55f93ff468..4c93f533a4 100644
--- a/AntennaTracker/GCS_Tracker.cpp
+++ b/AntennaTracker/GCS_Tracker.cpp
@@ -1,6 +1,11 @@
 #include "GCS_Tracker.h"
 #include "Tracker.h"
 
+uint8_t GCS_Tracker::sysid_this_mav() const
+{
+    return tracker.g.sysid_this_mav;
+}
+
 void GCS_Tracker::request_datastream_position(const uint8_t sysid, const uint8_t compid)
 {
     for (uint8_t i=0; i < num_gcs(); i++) {
diff --git a/AntennaTracker/GCS_Tracker.h b/AntennaTracker/GCS_Tracker.h
index 64f80159d9..e7494f7f0c 100644
--- a/AntennaTracker/GCS_Tracker.h
+++ b/AntennaTracker/GCS_Tracker.h
@@ -33,6 +33,8 @@ public:
 
 protected:
 
+    uint8_t sysid_this_mav() const override;
+
     GCS_MAVLINK_Tracker *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters &params,
                                                  AP_HAL::UARTDriver &uart) override {
         return new GCS_MAVLINK_Tracker(params, uart);
diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp
index 7cbf79bbf0..9e650a7498 100644
--- a/AntennaTracker/system.cpp
+++ b/AntennaTracker/system.cpp
@@ -8,16 +8,6 @@ void Tracker::init_ardupilot()
     // initialise stats module
     stats.init();
 
-    mavlink_system.sysid = g.sysid_this_mav;
-
-    // initialise serial ports
-    serial_manager.init();
-
-    // setup first port early to allow BoardConfig to report errors
-    gcs().setup_console();
-
-    register_scheduler_delay_callback();
-
     BoardConfig.init();
 #if HAL_WITH_UAVCAN
     BoardConfig_CAN.init();