From 5e73648d2a3024a7167587ab6bcd2c2123a5920e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 12 Feb 2019 22:55:31 +1100
Subject: [PATCH] Rover: move FRsky telemetry up into common GCS telemetry
 class

---
 APMrover2/GCS_Mavlink.cpp | 4 ++--
 APMrover2/GCS_Mavlink.h   | 2 --
 APMrover2/GCS_Rover.cpp   | 4 ----
 APMrover2/GCS_Rover.h     | 3 +++
 APMrover2/Rover.h         | 5 -----
 APMrover2/system.cpp      | 7 -------
 6 files changed, 5 insertions(+), 20 deletions(-)

diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index 6c3b987627..87e0923d9a 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -4,7 +4,7 @@
 
 #include <AP_RangeFinder/RangeFinder_Backend.h>
 
-MAV_TYPE GCS_MAVLINK_Rover::frame_type() const
+MAV_TYPE GCS_Rover::frame_type() const
 {
     if (rover.is_boat()) {
         return MAV_TYPE_SURFACE_BOAT;
@@ -55,7 +55,7 @@ MAV_MODE GCS_MAVLINK_Rover::base_mode() const
 return (MAV_MODE)_base_mode;
 }
 
-uint32_t GCS_MAVLINK_Rover::custom_mode() const
+uint32_t GCS_Rover::custom_mode() const
 {
     return rover.control_mode->mode_number();
 }
diff --git a/APMrover2/GCS_Mavlink.h b/APMrover2/GCS_Mavlink.h
index 85d8f2b0d3..7d71ccac96 100644
--- a/APMrover2/GCS_Mavlink.h
+++ b/APMrover2/GCS_Mavlink.h
@@ -47,9 +47,7 @@ private:
 
     void packetReceived(const mavlink_status_t &status, mavlink_message_t &msg) override;
 
-    MAV_TYPE frame_type() const override;
     MAV_MODE base_mode() const override;
-    uint32_t custom_mode() const override;
     MAV_STATE system_status() const override;
 
     int16_t vfr_hud_throttle() const override;
diff --git a/APMrover2/GCS_Rover.cpp b/APMrover2/GCS_Rover.cpp
index e77cde926b..fe2f740b33 100644
--- a/APMrover2/GCS_Rover.cpp
+++ b/APMrover2/GCS_Rover.cpp
@@ -117,8 +117,4 @@ void GCS_Rover::update_sensor_status_flags(void)
         control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
         control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
     }
-#if FRSKY_TELEM_ENABLED == ENABLED
-    // give mask of error flags to Frsky_Telemetry
-    rover.frsky_telemetry.update_sensor_status_flags(~control_sensors_health & control_sensors_enabled & control_sensors_present);
-#endif
 }
diff --git a/APMrover2/GCS_Rover.h b/APMrover2/GCS_Rover.h
index db130b7b49..88b30b8dc6 100644
--- a/APMrover2/GCS_Rover.h
+++ b/APMrover2/GCS_Rover.h
@@ -17,6 +17,9 @@ public:
     // return GCS link at offset ofs
     const GCS_MAVLINK_Rover &chan(const uint8_t ofs) const override { return _chan[ofs]; };
 
+    uint32_t custom_mode() const override;
+    MAV_TYPE frame_type() const override;
+
     void update_sensor_status_flags(void) override;
 
 private:
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index d1aa60ceb0..0a079cd0a8 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -37,7 +37,6 @@
 #include <AP_Camera/AP_Camera.h>                    // Camera triggering
 #include <AP_Compass/AP_Compass.h>                  // ArduPilot Mega Magnetometer Library
 #include <AP_Declination/AP_Declination.h>          // Compass declination library
-#include <AP_Frsky_Telem/AP_Frsky_Telem.h>
 #include <AP_Devo_Telem/AP_Devo_Telem.h>
 #include <AP_GPS/AP_GPS.h>                          // ArduPilot GPS library
 #include <AP_InertialSensor/AP_InertialSensor.h>    // Inertial Sensor (uncalibated IMU) Library
@@ -299,10 +298,6 @@ private:
                            FUNCTOR_BIND_MEMBER(&Rover::handle_battery_failsafe, void, const char*, const int8_t),
                            _failsafe_priorities};
 
-#if FRSKY_TELEM_ENABLED == ENABLED
-    // FrSky telemetry support
-    AP_Frsky_Telem frsky_telemetry;
-#endif
 #if DEVO_TELEM_ENABLED == ENABLED
     AP_DEVO_Telem devo_telemetry;
 #endif
diff --git a/APMrover2/system.cpp b/APMrover2/system.cpp
index e08b0dff57..b6d3a3a379 100644
--- a/APMrover2/system.cpp
+++ b/APMrover2/system.cpp
@@ -80,10 +80,6 @@ void Rover::init_ardupilot()
     // setup telem slots with serial ports
     gcs().setup_uarts(serial_manager);
 
-    // setup frsky telemetry
-#if FRSKY_TELEM_ENABLED == ENABLED
-    frsky_telemetry.init((is_boat() ? MAV_TYPE_SURFACE_BOAT : MAV_TYPE_GROUND_ROVER));
-#endif
 #if DEVO_TELEM_ENABLED == ENABLED
     devo_telemetry.init();
 #endif
@@ -260,9 +256,6 @@ bool Rover::set_mode(Mode &new_mode, mode_reason_t reason)
     // but it should be harmless to disable the fence temporarily in these situations as well
     g2.fence.manual_recovery_start();
 
-#if FRSKY_TELEM_ENABLED == ENABLED
-    frsky_telemetry.update_control_mode(control_mode->mode_number());
-#endif
 #if DEVO_TELEM_ENABLED == ENABLED
     devo_telemetry.update_control_mode(control_mode->mode_number());
 #endif