From 9e76223c344938709d927752bea5e8ae32568242 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 9 Jul 2017 14:06:18 +1000
Subject: [PATCH] AP_Arming: eliminate GCS_MAVLINK::send_statustext_all

---
 libraries/AP_Arming/AP_Arming.cpp | 62 +++++++++++++++----------------
 1 file changed, 31 insertions(+), 31 deletions(-)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 2d39b8c81c..9dd01a8a14 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -117,7 +117,7 @@ bool AP_Arming::barometer_checks(bool report)
         (checks_to_perform & ARMING_CHECK_BARO)) {
         if (!barometer.all_healthy()) {
             if (report) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Barometer not healthy");
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Barometer not healthy");
             }
             return false;
         }
@@ -137,7 +137,7 @@ bool AP_Arming::airspeed_checks(bool report)
         }
         if (airspeed->enabled() && airspeed->use() && !airspeed->healthy()) {
             if (report) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Airspeed not healthy");
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Airspeed not healthy");
             }
             return false;
         }
@@ -152,13 +152,13 @@ bool AP_Arming::logging_checks(bool report)
         (checks_to_perform & ARMING_CHECK_LOGGING)) {
         if (DataFlash_Class::instance()->logging_failed()) {
             if (report) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Logging failed");
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Logging failed");
             }
             return false;
         }
         if (!DataFlash_Class::instance()->CardInserted()) {
             if (report) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: No SD card");
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: No SD card");
             }
             return false;
         }
@@ -173,25 +173,25 @@ bool AP_Arming::ins_checks(bool report)
         const AP_InertialSensor &ins = ahrs.get_ins();
         if (!ins.get_gyro_health_all()) {
             if (report) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Gyros not healthy");
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Gyros not healthy");
             }
             return false;
         }
         if (!ins.gyro_calibrated_ok_all()) {
             if (report) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Gyros not calibrated");
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Gyros not calibrated");
             }
             return false;
         }
         if (!ins.get_accel_health_all()) {
             if (report) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Accels not healthy");
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Accels not healthy");
             }
             return false;
         }
         if (!ins.accel_calibrated_ok_all()) {
             if (report) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: 3D Accel calibration needed");
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: 3D Accel calibration needed");
             }
             return false;
         }
@@ -199,7 +199,7 @@ bool AP_Arming::ins_checks(bool report)
         //check if accelerometers have calibrated and require reboot
         if (ins.accel_cal_requires_reboot()) {
             if (report) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Accels calibrated requires reboot");
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Accels calibrated requires reboot");
             }
             return false;
         }
@@ -233,7 +233,7 @@ bool AP_Arming::ins_checks(bool report)
                 }
                 if (AP_HAL::millis() - last_accel_pass_ms[i] > 10000) {
                     if (report) {
-                        GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Accels inconsistent");
+                        gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Accels inconsistent");
                     }
                     return false;
                 }
@@ -257,7 +257,7 @@ bool AP_Arming::ins_checks(bool report)
                 }
                 if (AP_HAL::millis() - last_gyro_pass_ms[i] > 10000) {
                     if (report) {
-                        GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Gyros inconsistent");
+                        gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Gyros inconsistent");
                     }
                     return false;
                 }
@@ -280,14 +280,14 @@ bool AP_Arming::compass_checks(bool report)
 
         if (!_compass.healthy()) {
             if (report) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Compass not healthy");
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Compass not healthy");
             }
             return false;
         }
         // check compass learning is on or offsets have been set
         if (!_compass.learn_offsets_enabled() && !_compass.configured()) {
             if (report) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Compass not calibrated");
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Compass not calibrated");
             }
             return false;
         }
@@ -295,7 +295,7 @@ bool AP_Arming::compass_checks(bool report)
         //check if compass is calibrating
         if (_compass.is_calibrating()) {
             if (report) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Arm: Compass calibration running");
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "Arm: Compass calibration running");
             }
             return false;
         }
@@ -303,7 +303,7 @@ bool AP_Arming::compass_checks(bool report)
         //check if compass has calibrated and requires reboot
         if (_compass.compass_cal_requires_reboot()) {
             if (report) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Compass calibrated requires reboot");
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Compass calibrated requires reboot");
             }
             return false;
         }
@@ -312,7 +312,7 @@ bool AP_Arming::compass_checks(bool report)
         Vector3f offsets = _compass.get_offsets();
         if (offsets.length() > _compass.get_offsets_max()) {
             if (report) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Compass offsets too high");
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Compass offsets too high");
             }
             return false;
         }
@@ -321,7 +321,7 @@ bool AP_Arming::compass_checks(bool report)
         float mag_field = _compass.get_field().length();
         if (mag_field > AP_ARMING_COMPASS_MAGFIELD_MAX || mag_field < AP_ARMING_COMPASS_MAGFIELD_MIN) {
             if (report) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Check mag field");
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Check mag field");
             }
             return false;
         }
@@ -329,7 +329,7 @@ bool AP_Arming::compass_checks(bool report)
         // check all compasses point in roughly same direction
         if (!_compass.consistent()) {
             if (report) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL,"PreArm: Compasses inconsistent");
+                gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Compasses inconsistent");
             }
             return false;
         }
@@ -347,7 +347,7 @@ bool AP_Arming::gps_checks(bool report)
         if (home_status() == HOME_UNSET ||
             gps.status() < AP_GPS::GPS_OK_FIX_3D) {
             if (report) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Bad GPS Position");
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Bad GPS Position");
             }
             return false;
         }
@@ -357,7 +357,7 @@ bool AP_Arming::gps_checks(bool report)
         uint8_t first_unconfigured = gps.first_unconfigured_gps();
         if (first_unconfigured != AP_GPS::GPS_ALL_CONFIGURED) {
             if (report) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL,
+                gcs().send_text(MAV_SEVERITY_CRITICAL,
                                                  "PreArm: GPS %d failing configuration checks",
                                                   first_unconfigured + 1);
                 gps.broadcast_first_configuration_failure_reason();
@@ -371,7 +371,7 @@ bool AP_Arming::gps_checks(bool report)
         float distance_m;
         if (!gps.all_consistent(distance_m)) {
             if (report) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL,
+                gcs().send_text(MAV_SEVERITY_CRITICAL,
                                                  "PreArm: GPS positions differ by %4.1fm",
                                                  (double)distance_m);
             }
@@ -379,7 +379,7 @@ bool AP_Arming::gps_checks(bool report)
         }
         if (!gps.blend_health_check()) {
             if (report) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: GPS blending unhealthy");
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: GPS blending unhealthy");
             }
             return false;
         }
@@ -395,7 +395,7 @@ bool AP_Arming::battery_checks(bool report)
 
         if (AP_Notify::flags.failsafe_battery) {
             if (report) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Battery failsafe on");
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Battery failsafe on");
             }
             return false;
         }
@@ -403,7 +403,7 @@ bool AP_Arming::battery_checks(bool report)
         for (int i = 0; i < _battery.num_instances(); i++) {
             if ((_min_voltage[i] > 0.0f) && (_battery.voltage(i) < _min_voltage[i])) {
                 if (report) {
-                    GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Battery %d voltage %.1f below minimum %.1f",
+                    gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Battery %d voltage %.1f below minimum %.1f",
                             i+1,
                             (double)_battery.voltage(i),
                             (double)_min_voltage[i]);
@@ -423,7 +423,7 @@ bool AP_Arming::hardware_safety_check(bool report)
       // check if safety switch has been pushed
       if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
           if (report) {
-              GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Hardware safety switch");
+              gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Hardware safety switch");
           }
           return false;
       }
@@ -439,7 +439,7 @@ bool AP_Arming::manual_transmitter_checks(bool report)
 
         if (AP_Notify::flags.failsafe_radio) {
             if (report) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Radio failsafe on");
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Radio failsafe on");
             }
             return false;
         }
@@ -459,7 +459,7 @@ bool AP_Arming::board_voltage_checks(bool report)
         if(!is_zero(hal.analogin->board_voltage()) &&
            ((hal.analogin->board_voltage() < AP_ARMING_BOARD_VOLTAGE_MIN) || (hal.analogin->board_voltage() > AP_ARMING_BOARD_VOLTAGE_MAX))) {
             if (report) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL,"PreArm: Check board voltage");
+                gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check board voltage");
             }
             return false;
         }
@@ -494,7 +494,7 @@ bool AP_Arming::arm_checks(uint8_t method)
     if ((checks_to_perform & ARMING_CHECK_ALL) ||
         (checks_to_perform & ARMING_CHECK_LOGGING)) {
         if (!DataFlash_Class::instance()->logging_started()) {
-            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Arm: Logging not started");
+            gcs().send_text(MAV_SEVERITY_CRITICAL, "Arm: Logging not started");
             return false;
         }
     }
@@ -516,7 +516,7 @@ bool AP_Arming::arm(uint8_t method)
     if (checks_to_perform == ARMING_CHECK_NONE) {
         armed = true;
         arming_method = NONE;
-        GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Throttle armed");
+        gcs().send_text(MAV_SEVERITY_INFO, "Throttle armed");
         return true;
     }
 
@@ -524,7 +524,7 @@ bool AP_Arming::arm(uint8_t method)
         armed = true;
         arming_method = method;
 
-        GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Throttle armed");
+        gcs().send_text(MAV_SEVERITY_INFO, "Throttle armed");
 
         //TODO: Log motor arming to the dataflash
         //Can't do this from this class until there is a unified logging library
@@ -550,7 +550,7 @@ bool AP_Arming::disarm()
     }
     armed = false;
 
-    GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Throttle disarmed");
+    gcs().send_text(MAV_SEVERITY_INFO, "Throttle disarmed");
 
     //TODO: Log motor disarming to the dataflash
     //Can't do this from this class until there is a unified logging library.