From 38ea1b40392a1b10c2db3b60544c1567178a5b3b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 22 Nov 2022 14:40:31 +1100
Subject: [PATCH] Rover: factor out handle_manual_control_axes

---
 Rover/GCS_Mavlink.cpp | 22 +---------------------
 Rover/GCS_Mavlink.h   |  2 +-
 2 files changed, 2 insertions(+), 22 deletions(-)

diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
index 49592abcdb..261ba9c760 100644
--- a/Rover/GCS_Mavlink.cpp
+++ b/Rover/GCS_Mavlink.cpp
@@ -769,9 +769,6 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_int_do_reposition(const mavlink_com
 void GCS_MAVLINK_Rover::handleMessage(const mavlink_message_t &msg)
 {
     switch (msg.msgid) {
-    case MAVLINK_MSG_ID_MANUAL_CONTROL:
-        handle_manual_control(msg);
-        break;
 
     case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:
         handle_set_attitude_target(msg);
@@ -796,27 +793,10 @@ void GCS_MAVLINK_Rover::handleMessage(const mavlink_message_t &msg)
     }
 }
 
-void GCS_MAVLINK_Rover::handle_manual_control(const mavlink_message_t &msg)
+void GCS_MAVLINK_Rover::handle_manual_control_axes(const mavlink_manual_control_t &packet, const uint32_t tnow)
 {
-    if (msg.sysid != rover.g.sysid_my_gcs) {  // Only accept control from our gcs
-        return;
-    }
-
-    mavlink_manual_control_t packet;
-    mavlink_msg_manual_control_decode(&msg, &packet);
-
-    if (packet.target != rover.g.sysid_this_mav) {
-        return; // only accept control aimed at us
-    }
-
-    uint32_t tnow = AP_HAL::millis();
-
     manual_override(rover.channel_steer, packet.y, 1000, 2000, tnow);
     manual_override(rover.channel_throttle, packet.z, 1000, 2000, tnow);
-
-    // a manual control message is considered to be a 'heartbeat' from
-    // the ground station for failsafe purposes
-    gcs().sysid_myggcs_seen(tnow);
 }
 
 void GCS_MAVLINK_Rover::handle_set_attitude_target(const mavlink_message_t &msg)
diff --git a/Rover/GCS_Mavlink.h b/Rover/GCS_Mavlink.h
index dab366b730..8f1bd02885 100644
--- a/Rover/GCS_Mavlink.h
+++ b/Rover/GCS_Mavlink.h
@@ -37,7 +37,7 @@ private:
     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
     bool try_send_message(enum ap_message id) override;
 
-    void handle_manual_control(const mavlink_message_t &msg);
+    void handle_manual_control_axes(const mavlink_manual_control_t &packet, const uint32_t tnow) override;
     void handle_set_attitude_target(const mavlink_message_t &msg);
     void handle_set_position_target_local_ned(const mavlink_message_t &msg);
     void handle_set_position_target_global_int(const mavlink_message_t &msg);