GCS_MAVLink: move FRsky telemetry up into common GCS telemetry class

libraries/GCS_MAVLink/GCS.h

@@ -304,9 +304,7 @@ protected:
     virtual bool set_mode(uint8_t mode) = 0;
     void set_ekf_origin(const Location& loc);
 
-    virtual MAV_TYPE frame_type() const = 0;
     virtual MAV_MODE base_mode() const = 0;
-    virtual uint32_t custom_mode() const = 0;
     virtual MAV_STATE system_status() const = 0;
 
     virtual MAV_VTOL_STATE vtol_state() const { return MAV_VTOL_STATE_UNDEFINED; }
@@ -602,9 +600,6 @@ private:
     // mavlink routing object
     static MAVLink_routing routing;
 
-    // pointer to static frsky_telem for queueing of text messages
-    static AP_Frsky_Telem *frsky_telemetry_p;
- 
     static const AP_SerialManager *serialmanager_p;
 
     struct pending_param_request {
@@ -738,6 +733,9 @@ public:
         return _singleton;
     }
 
+    virtual uint32_t custom_mode() const = 0;
+    virtual MAV_TYPE frame_type() const = 0;
+
     void send_text(MAV_SEVERITY severity, const char *fmt, ...);
     void send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list);
     virtual void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text);
@@ -764,17 +762,9 @@ public:
         _out_of_time = val;
     }
 
-    /*
+    // frsky backend
-      set a frsky_telem pointer for queueing
+    AP_Frsky_Telem frsky;
-     */
-    void register_frsky_telemetry_callback(AP_Frsky_Telem *frsky_telemetry) {
-        frsky_telemetry_p = frsky_telemetry;
-    }
 
-    // static frsky_telem pointer to support queueing text messages
-    AP_Frsky_Telem *frsky_telemetry_p;
-
-    
     // install an alternative protocol handler
     bool install_alternative_protocol(mavlink_channel_t chan, GCS_MAVLINK::protocol_handler_fn_t handler);
 

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -1892,9 +1892,7 @@ void GCS::send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const cha
     }
 
     // add statustext message to FrSky lib queue
-    if (frsky_telemetry_p != NULL) {
+    frsky.queue_message(severity, text);
-        frsky_telemetry_p->queue_message(severity, text);
-    }
 
     AP_Notify *notify = AP_Notify::get_singleton();
     if (notify) {
@@ -2017,6 +2015,8 @@ void GCS::setup_uarts(AP_SerialManager &serial_manager)
     for (uint8_t i = 1; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
         chan(i).setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
     }
+
+    frsky.init();
 }
 
 // report battery2 state
@@ -2271,10 +2271,10 @@ void GCS_MAVLINK::send_heartbeat() const
 {
     mavlink_msg_heartbeat_send(
         chan,
-        frame_type(),
+        gcs().frame_type(),
         MAV_AUTOPILOT_ARDUPILOTMEGA,
         base_mode(),
-        custom_mode(),
+        gcs().custom_mode(),
         system_status());
 }
 

libraries/GCS_MAVLink/GCS_Dummy.h

@@ -28,9 +28,7 @@ protected:
     bool set_mode(uint8_t mode) override { return false; };
 
     // dummy information:
-    MAV_TYPE frame_type() const override { return MAV_TYPE_FIXED_WING; }
     MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
-    uint32_t custom_mode() const override { return 3; } // magic number
     MAV_STATE system_status() const override { return MAV_STATE_CALIBRATING; }
 
     bool set_home_to_current_location(bool lock) override { return false; }
@@ -56,4 +54,7 @@ class GCS_Dummy : public GCS
     void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text) { hal.console->printf("TOGCS: %s\n", text); }
 
     void update_sensor_status_flags(void) override {};
+
+    MAV_TYPE frame_type() const override { return MAV_TYPE_FIXED_WING; }
+    uint32_t custom_mode() const override { return 3; } // magic number
 };

libraries/GCS_MAVLink/examples/routing/routing.cpp

@@ -34,9 +34,7 @@ protected:
     bool set_mode(uint8_t mode) override { return false; };
 
     // dummy information:
-    MAV_TYPE frame_type() const override { return MAV_TYPE_FIXED_WING; }
     MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
-    uint32_t custom_mode() const override { return 3; } // magic number
     MAV_STATE system_status() const override { return MAV_STATE_CALIBRATING; }
     void send_nav_controller_output() const override {};
     void send_pid_tuning() override {};