From 32d576ac4b7f5095a46ea3e602ad985b919bc188 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 14 Feb 2019 10:12:14 +1100
Subject: [PATCH] AP_Devo_Telem: move devo telemetry handling to GCS

---
 libraries/AP_Devo_Telem/AP_Devo_Telem.cpp |  7 ++++---
 libraries/AP_Devo_Telem/AP_Devo_Telem.h   | 11 +----------
 2 files changed, 5 insertions(+), 13 deletions(-)

diff --git a/libraries/AP_Devo_Telem/AP_Devo_Telem.cpp b/libraries/AP_Devo_Telem/AP_Devo_Telem.cpp
index ed1b31d717..94668dcbe4 100644
--- a/libraries/AP_Devo_Telem/AP_Devo_Telem.cpp
+++ b/libraries/AP_Devo_Telem/AP_Devo_Telem.cpp
@@ -29,6 +29,7 @@
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_GPS/AP_GPS.h>
 #include <AP_BattMonitor/AP_BattMonitor.h>
+#include <GCS_MAVLink/GCS.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -76,7 +77,7 @@ uint32_t AP_DEVO_Telem::gpsDdToDmsFormat(float ddm)
 
 #define DEVO_SPEED_FACTOR 0.0194384f
 
-void AP_DEVO_Telem::send_frames(uint8_t control_mode)
+void AP_DEVO_Telem::send_frames()
 {
     // return immediately if not initialised
     if (_port == nullptr) {
@@ -109,7 +110,7 @@ void AP_DEVO_Telem::send_frames(uint8_t control_mode)
 
 
     devoPacket.volt = roundf(AP::battery().voltage() * 10.0f);
-    devoPacket.temp = control_mode; // Send mode as temperature
+    devoPacket.temp = gcs().custom_mode(); // Send mode as temperature
 
     devoPacket.checksum8 = 0; // Init Checksum with zero Byte
 
@@ -127,6 +128,6 @@ void AP_DEVO_Telem::tick(void)
 
     if (now - _last_frame_ms > 1000) {
         _last_frame_ms = now;
-        send_frames(_control_mode);
+        send_frames();
     }
 }
diff --git a/libraries/AP_Devo_Telem/AP_Devo_Telem.h b/libraries/AP_Devo_Telem/AP_Devo_Telem.h
index 53b378a9bd..1e34c7c39e 100644
--- a/libraries/AP_Devo_Telem/AP_Devo_Telem.h
+++ b/libraries/AP_Devo_Telem/AP_Devo_Telem.h
@@ -29,13 +29,6 @@ public:
 
     void init();
 
-    // update flight control mode. The control mode is vehicle type specific
-    void update_control_mode(uint8_t mode)
-    {
-        _control_mode = mode;
-    }
-
-
 private:
     typedef struct PACKED {
         uint8_t header;                                ///< 0xAA for a valid packet
@@ -54,12 +47,10 @@ private:
     void tick(void);
 
     // send_frames - sends updates down telemetry link
-    void send_frames(uint8_t control_mode);
+    void send_frames();
 
     DevoMPacket devoPacket;
 
-    uint8_t _control_mode;
-
     AP_HAL::UARTDriver *_port;              // UART used to send data to receiver
     uint32_t _last_frame_ms;