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Plane: Support for a GCS singleton

This commit is contained in:
Peter Barker 2016-05-31 11:35:35 +10:00 committed by Andrew Tridgell
parent d060670ba3
commit 49bf336539
3 changed files with 6 additions and 4 deletions
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6
ArduPlane/GCS_Mavlink.cpp
View File

@ -2178,7 +2178,7 @@ void Plane::gcs_update(void)
void Plane::gcs_send_text(MAV_SEVERITY severity, const char *str)
{
GCS_MAVLINK::send_statustext(severity, 0xFF, str);
gcs().send_statustext(severity, 0xFF, str);
notify.send_text(str);
}
@ -2194,7 +2194,7 @@ void Plane::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
va_start(arg_list, fmt);
hal.util->vsnprintf((char *)str, sizeof(str), fmt, arg_list);
va_end(arg_list);
GCS_MAVLINK::send_statustext(severity, 0xFF, str);
gcs().send_statustext(severity, 0xFF, str);
notify.send_text(str);
}
@ -2218,7 +2218,7 @@ void Plane::gcs_send_airspeed_calibration(const Vector3f &vg)
void Plane::gcs_retry_deferred(void)
{
gcs_send_message(MSG_RETRY_DEFERRED);
GCS_MAVLINK::service_statustext();
gcs().service_statustext();
}
/*

2
ArduPlane/Plane.h
View File

@ -252,6 +252,8 @@ private:
AP_SerialManager serial_manager;
const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
GCS_MAVLINK_Plane gcs_chan[MAVLINK_COMM_NUM_BUFFERS];
GCS _gcs; // avoid using this; use gcs()
GCS &gcs() { return _gcs; }
// selected navigation controller
AP_Navigation *nav_controller = &L1_controller;

2
ArduPlane/system.cpp
View File

@ -116,7 +116,7 @@ void Plane::init_ardupilot()
}
#endif
GCS_MAVLINK::set_dataflash(&DataFlash);
gcs().set_dataflash(&DataFlash);
mavlink_system.sysid = g.sysid_this_mav;