From 76847a248791081a71bf1725e64a2352bf197d21 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 9 Jul 2017 14:08:36 +1000
Subject: [PATCH] AP_GPS: eliminate GCS_MAVLINK::send_statustext_all

---
 libraries/AP_GPS/AP_GPS.cpp       | 2 +-
 libraries/AP_GPS/AP_GPS_SBF.cpp   | 6 +++---
 libraries/AP_GPS/AP_GPS_SBP2.cpp  | 2 +-
 libraries/AP_GPS/AP_GPS_UBLOX.cpp | 8 ++++----
 libraries/AP_GPS/GPS_Backend.cpp  | 4 ++--
 5 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index d48fb6d3a5..b60f897b1c 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -929,7 +929,7 @@ void AP_GPS::broadcast_first_configuration_failure_reason(void) const
 {
     uint8_t unconfigured = first_unconfigured_gps();
     if (drivers[unconfigured] == nullptr) {
-        GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "GPS %d: was not found", unconfigured + 1);
+        gcs().send_text(MAV_SEVERITY_INFO, "GPS %d: was not found", unconfigured + 1);
     } else {
         drivers[unconfigured]->broadcast_configuration_failure_reason();
     }
diff --git a/libraries/AP_GPS/AP_GPS_SBF.cpp b/libraries/AP_GPS/AP_GPS_SBF.cpp
index 07f41c159e..4369d40997 100644
--- a/libraries/AP_GPS/AP_GPS_SBF.cpp
+++ b/libraries/AP_GPS/AP_GPS_SBF.cpp
@@ -319,13 +319,13 @@ void AP_GPS_SBF::broadcast_configuration_failure_reason(void) const
 {
     if (gps._raw_data) {
         if (!(RxState & SBF_DISK_MOUNTED)){
-            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "GPS %d: SBF disk is not mounted", state.instance + 1);
+            gcs().send_text(MAV_SEVERITY_INFO, "GPS %d: SBF disk is not mounted", state.instance + 1);
         }
         else if (RxState & SBF_DISK_FULL) {
-            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "GPS %d: SBF disk is full", state.instance + 1);
+            gcs().send_text(MAV_SEVERITY_INFO, "GPS %d: SBF disk is full", state.instance + 1);
         }
         else if (!(RxState & SBF_DISK_ACTIVITY)) {
-            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "GPS %d: SBF is not currently logging", state.instance + 1);
+            gcs().send_text(MAV_SEVERITY_INFO, "GPS %d: SBF is not currently logging", state.instance + 1);
         }
     }
 }
diff --git a/libraries/AP_GPS/AP_GPS_SBP2.cpp b/libraries/AP_GPS/AP_GPS_SBP2.cpp
index 5c4401f384..00d22f7f32 100644
--- a/libraries/AP_GPS/AP_GPS_SBP2.cpp
+++ b/libraries/AP_GPS/AP_GPS_SBP2.cpp
@@ -51,7 +51,7 @@ do {                                            \
 #if SBP_INFOREPORTING
  # define Info(fmt, args ...)                                               \
 do {                                                                        \
-    GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, fmt "\n", ## args); \
+    gcs().send_text(MAV_SEVERITY_INFO, fmt "\n", ## args); \
 } while(0) 
 #else
  # define Info(fmt, args ...)
diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
index ff7013ad81..c6af586840 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
@@ -814,7 +814,7 @@ AP_GPS_UBLOX::_parse_gps(void)
             _have_version = true;
             strncpy(_version.hwVersion, _buffer.mon_ver.hwVersion, sizeof(_version.hwVersion));
             strncpy(_version.swVersion, _buffer.mon_ver.swVersion, sizeof(_version.swVersion));
-            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, 
+            gcs().send_text(MAV_SEVERITY_INFO, 
                                              "u-blox %d HW: %s SW: %s",
                                              state.instance + 1,
                                              _version.hwVersion,
@@ -976,7 +976,7 @@ AP_GPS_UBLOX::_parse_gps(void)
                     state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FIXED;
                 break;
             case 4:
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO,
+                gcs().send_text(MAV_SEVERITY_INFO,
                                 "Unexpected state %d", _buffer.pvt.flags);
                 state.status = AP_GPS::GPS_OK_FIX_3D;
                 break;
@@ -1195,7 +1195,7 @@ AP_GPS_UBLOX::_save_cfg()
     _send_message(CLASS_CFG, MSG_CFG_CFG, &save_cfg, sizeof(save_cfg));
     _last_cfg_sent_time = AP_HAL::millis();
     _num_cfg_save_tries++;
-    GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO,
+    gcs().send_text(MAV_SEVERITY_INFO,
                                      "GPS: u-blox %d saving config",
                                      state.instance + 1);
 }
@@ -1299,7 +1299,7 @@ void
 AP_GPS_UBLOX::broadcast_configuration_failure_reason(void) const {
     for (uint8_t i = 0; i < ARRAY_SIZE(reasons); i++) {
         if (_unconfigured_messages & (1 << i)) {
-            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "GPS %d: u-blox %s configuration 0x%02x",
+            gcs().send_text(MAV_SEVERITY_INFO, "GPS %d: u-blox %s configuration 0x%02x",
                 state.instance +1, reasons[i], _unconfigured_messages);
             break;
         }
diff --git a/libraries/AP_GPS/GPS_Backend.cpp b/libraries/AP_GPS/GPS_Backend.cpp
index 0476001f2b..733428ad72 100644
--- a/libraries/AP_GPS/GPS_Backend.cpp
+++ b/libraries/AP_GPS/GPS_Backend.cpp
@@ -24,7 +24,7 @@
  # define Debug(fmt, args ...)
 #endif
 
-#include <GCS_MAVLink/GCS.h> // for send_statustext_all
+#include <GCS_MAVLink/GCS.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -160,7 +160,7 @@ void AP_GPS_Backend::broadcast_gps_type() const
 {
     char buffer[64];
     _detection_message(buffer, sizeof(buffer));
-    GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, buffer);
+    gcs().send_text(MAV_SEVERITY_INFO, buffer);
 }
 
 void AP_GPS_Backend::Write_DataFlash_Log_Startup_messages() const