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Sub: Remove cliSerial alias for hal.console

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This commit is contained in:
Jacob Walser 2017-04-13 18:53:48 -04:00
parent 6008689aa3
commit 8b3c414ca7
5 changed files with 7 additions and 14 deletions
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2
ArduSub/ArduSub.cpp
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@ -81,8 +81,6 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
void Sub::setup() void Sub::setup()
{ {
cliSerial = hal.console;
// Load the default values of variables listed in var_info[]s // Load the default values of variables listed in var_info[]s
AP_Param::setup_sketch_defaults(); AP_Param::setup_sketch_defaults();

8
ArduSub/Parameters.cpp
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@ -754,7 +754,7 @@ ParametersG2::ParametersG2(void)
void Sub::load_parameters(void) void Sub::load_parameters(void)
{ {
if (!AP_Param::check_var_info()) { if (!AP_Param::check_var_info()) {
cliSerial->printf("Bad var table\n"); hal.console->printf("Bad var table\n");
AP_HAL::panic("Bad var table"); AP_HAL::panic("Bad var table");
} }
@ -766,18 +766,18 @@ void Sub::load_parameters(void)
g.format_version != Parameters::k_format_version) { g.format_version != Parameters::k_format_version) {
// erase all parameters // erase all parameters
cliSerial->printf("Firmware change: erasing EEPROM...\n"); hal.console->printf("Firmware change: erasing EEPROM...\n");
AP_Param::erase_all(); AP_Param::erase_all();
// save the current format version // save the current format version
g.format_version.set_and_save(Parameters::k_format_version); g.format_version.set_and_save(Parameters::k_format_version);
cliSerial->println("done."); hal.console->println("done.");
} }
uint32_t before = micros(); uint32_t before = micros();
// Load all auto-loaded EEPROM variables // Load all auto-loaded EEPROM variables
AP_Param::load_all(); AP_Param::load_all();
cliSerial->printf("load_all took %uus\n", (unsigned)(micros() - before)); hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_SUB); AP_Param::set_frame_type_flags(AP_PARAM_FRAME_SUB);

5
ArduSub/Sub.h
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@ -135,11 +135,6 @@ private:
// key aircraft parameters passed to multiple libraries // key aircraft parameters passed to multiple libraries
AP_Vehicle::MultiCopter aparm; AP_Vehicle::MultiCopter aparm;
// cliSerial isn't strictly necessary - it is an alias for hal.console. It may
// be deprecated in favor of hal.console in later releases.
AP_HAL::BetterStream* cliSerial;
// Global parameters are all contained within the 'g' class. // Global parameters are all contained within the 'g' class.
Parameters g; Parameters g;
ParametersG2 g2; ParametersG2 g2;

2
ArduSub/sensors.cpp
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@ -95,7 +95,7 @@ void Sub::init_compass()
{ {
if (!compass.init() || !compass.read()) { if (!compass.init() || !compass.read()) {
// make sure we don't pass a broken compass to DCM // make sure we don't pass a broken compass to DCM
cliSerial->println("COMPASS INIT ERROR"); hal.console->println("COMPASS INIT ERROR");
Log_Write_Error(ERROR_SUBSYSTEM_COMPASS,ERROR_CODE_FAILED_TO_INITIALISE); Log_Write_Error(ERROR_SUBSYSTEM_COMPASS,ERROR_CODE_FAILED_TO_INITIALISE);
return; return;
} }

4
ArduSub/system.cpp
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@ -23,7 +23,7 @@ void Sub::init_ardupilot()
// initialise serial port // initialise serial port
serial_manager.init_console(); serial_manager.init_console();
cliSerial->printf("\n\nInit " FIRMWARE_STRING hal.console->printf("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n", "\n\nFree RAM: %u\n",
(unsigned)hal.util->available_memory()); (unsigned)hal.util->available_memory());
@ -190,7 +190,7 @@ void Sub::init_ardupilot()
// init vehicle capabilties // init vehicle capabilties
init_capabilities(); init_capabilities();
cliSerial->print("\nReady to FLY "); hal.console->print("\nInit complete");
// flag that initialisation has completed // flag that initialisation has completed
ap.initialised = true; ap.initialised = true;