APMrover2: move initialisation of serial and gcs to AP_Vehicle

APMrover2/GCS_Rover.cpp

@@ -4,6 +4,11 @@
 
 #include <AP_RangeFinder/AP_RangeFinder_Backend.h>
 
+uint8_t GCS_Rover::sysid_this_mav() const
+{
+    return rover.g.sysid_this_mav;
+}
+
 bool GCS_Rover::simple_input_active() const
 {
     if (rover.control_mode != &rover.mode_simple) {

APMrover2/GCS_Rover.h

@@ -38,6 +38,8 @@ public:
 
 protected:
 
+    uint8_t sysid_this_mav() const override;
+
     GCS_MAVLINK_Rover *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters &params,
                                                AP_HAL::UARTDriver &uart) override {
         return new GCS_MAVLINK_Rover(params, uart);

APMrover2/system.cpp

@@ -19,16 +19,6 @@ void Rover::init_ardupilot()
     g2.stats.init();
 #endif
 
-    mavlink_system.sysid = g.sysid_this_mav;
-
-    // initialise serial ports
-    serial_manager.init();
-
-    // setup first port early to allow BoardConfig to report errors
-    gcs().setup_console();
-
-    register_scheduler_delay_callback();
-
     BoardConfig.init();
 #if HAL_WITH_UAVCAN
     BoardConfig_CAN.init();