From 4848b03ac60e9bea787067f02b7ba9862d6fd7db Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 19 Jan 2015 22:38:49 +0900
Subject: [PATCH] Mount_AlexMos: use SerialManager for init

---
 libraries/AP_Mount/AP_Mount_Alexmos.cpp | 15 +++++++++------
 libraries/AP_Mount/AP_Mount_Alexmos.h   |  6 ++++--
 2 files changed, 13 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_Mount/AP_Mount_Alexmos.cpp b/libraries/AP_Mount/AP_Mount_Alexmos.cpp
index cc35b47121..a70e60ff7b 100644
--- a/libraries/AP_Mount/AP_Mount_Alexmos.cpp
+++ b/libraries/AP_Mount/AP_Mount_Alexmos.cpp
@@ -3,13 +3,16 @@
 
 extern const AP_HAL::HAL& hal;
 
-void AP_Mount_Alexmos::init ()
+void AP_Mount_Alexmos::init(const AP_SerialManager& serial_manager)
 {
-    _port = hal.uartE;    
-    _port->begin(115200);
-    _initialised = true; 
-    get_boardinfo();
-    read_params(0); //we request parameters for profile 0 and therfore get global and profile parameters
+    // check for alexmos protcol
+    AP_SerialManager::serial_state alexmos_serial;
+    if (serial_manager.find_serial(AP_SerialManager::SerialProtocol_AlexMos, alexmos_serial)) {
+        _port = alexmos_serial.uart;
+        _initialised = true;
+        get_boardinfo();
+        read_params(0); //we request parameters for profile 0 and therfore get global and profile parameters
+    }
 }
 
 // update mount position - should be called periodically
diff --git a/libraries/AP_Mount/AP_Mount_Alexmos.h b/libraries/AP_Mount/AP_Mount_Alexmos.h
index 13a54069a4..9bb1353602 100644
--- a/libraries/AP_Mount/AP_Mount_Alexmos.h
+++ b/libraries/AP_Mount/AP_Mount_Alexmos.h
@@ -72,6 +72,7 @@ public:
     //constructor
     AP_Mount_Alexmos(AP_Mount &frontend, AP_Mount::mount_state state, uint8_t instance):
         AP_Mount_Backend(frontend, state, instance),
+        _port(NULL),
         _initialised(false),
         _board_version(0),
         _current_firmware_version(0.0f),
@@ -84,11 +85,12 @@ public:
         _step(0),
         _command_id(0),
         _payload_length(0),
-        _payload_counter(0)
+        _payload_counter(0),
+        _last_command_confirmed(false)
     {}
 
     // init - performs any required initialisation for this instance
-    virtual void init ();
+    virtual void init(const AP_SerialManager& serial_manager);
 
     // update mount position - should be called periodically
     virtual void update();