From d060670ba3079dd8046c6fa550e4d0afdfe2498e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 17 Jun 2016 11:27:47 +1000
Subject: [PATCH] Plane: rename gcs[] to gcs_chan[]

Wish to use gcs() to return the gcs singleton
---
 ArduPlane/GCS_Mavlink.cpp | 26 +++++++++++++-------------
 ArduPlane/Log.cpp         |  2 +-
 ArduPlane/Parameters.cpp  |  8 ++++----
 ArduPlane/Plane.h         |  2 +-
 ArduPlane/system.cpp      | 16 ++++++++--------
 5 files changed, 27 insertions(+), 27 deletions(-)

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 4e6215d252..909e71b9d1 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -91,7 +91,7 @@ void Plane::send_heartbeat(mavlink_channel_t chan)
     // indicate we have set a custom mode
     base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
 
-    gcs[chan-MAVLINK_COMM_0].send_heartbeat(MAV_TYPE_FIXED_WING,
+    gcs_chan[chan-MAVLINK_COMM_0].send_heartbeat(MAV_TYPE_FIXED_WING,
                                             base_mode,
                                             custom_mode,
                                             system_status);
@@ -2098,7 +2098,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
 void Plane::mavlink_delay_cb()
 {
     static uint32_t last_1hz, last_50hz, last_5s;
-    if (!gcs[0].initialised || in_mavlink_delay) return;
+    if (!gcs_chan[0].initialised || in_mavlink_delay) return;
 
     in_mavlink_delay = true;
 
@@ -2129,8 +2129,8 @@ void Plane::mavlink_delay_cb()
 void Plane::gcs_send_message(enum ap_message id)
 {
     for (uint8_t i=0; i<num_gcs; i++) {
-        if (gcs[i].initialised) {
-            gcs[i].send_message(id);
+        if (gcs_chan[i].initialised) {
+            gcs_chan[i].send_message(id);
         }
     }
 }
@@ -2141,9 +2141,9 @@ void Plane::gcs_send_message(enum ap_message id)
 void Plane::gcs_send_mission_item_reached_message(uint16_t mission_index)
 {
     for (uint8_t i=0; i<num_gcs; i++) {
-        if (gcs[i].initialised) {
-            gcs[i].mission_item_reached_index = mission_index;
-            gcs[i].send_message(MSG_MISSION_ITEM_REACHED);
+        if (gcs_chan[i].initialised) {
+            gcs_chan[i].mission_item_reached_index = mission_index;
+            gcs_chan[i].send_message(MSG_MISSION_ITEM_REACHED);
         }
     }
 }
@@ -2154,8 +2154,8 @@ void Plane::gcs_send_mission_item_reached_message(uint16_t mission_index)
 void Plane::gcs_data_stream_send(void)
 {
     for (uint8_t i=0; i<num_gcs; i++) {
-        if (gcs[i].initialised) {
-            gcs[i].data_stream_send();
+        if (gcs_chan[i].initialised) {
+            gcs_chan[i].data_stream_send();
         }
     }
 }
@@ -2166,11 +2166,11 @@ void Plane::gcs_data_stream_send(void)
 void Plane::gcs_update(void)
 {
     for (uint8_t i=0; i<num_gcs; i++) {
-        if (gcs[i].initialised) {
+        if (gcs_chan[i].initialised) {
 #if CLI_ENABLED == ENABLED
-            gcs[i].update(g.cli_enabled == 1 ? FUNCTOR_BIND_MEMBER(&Plane::run_cli, void, AP_HAL::UARTDriver *):nullptr);
+            gcs_chan[i].update(g.cli_enabled == 1 ? FUNCTOR_BIND_MEMBER(&Plane::run_cli, void, AP_HAL::UARTDriver *):nullptr);
 #else
-            gcs[i].update(nullptr);
+            gcs_chan[i].update(nullptr);
 #endif
         }
     }
@@ -2204,7 +2204,7 @@ void Plane::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
 void Plane::gcs_send_airspeed_calibration(const Vector3f &vg)
 {
     for (uint8_t i=0; i<num_gcs; i++) {
-        if (gcs[i].initialised) {
+        if (gcs_chan[i].initialised) {
             if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, AIRSPEED_AUTOCAL)) {
                 airspeed.log_mavlink_send((mavlink_channel_t)i, vg);
             }
diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index d069f2ba7b..b560ad095c 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -543,7 +543,7 @@ void Plane::log_init(void)
         DataFlash.Prep();
         gcs_send_text(MAV_SEVERITY_INFO, "Prepared log system");
         for (uint8_t i=0; i<num_gcs; i++) {
-            gcs[i].reset_cli_timeout();
+            gcs_chan[i].reset_cli_timeout();
         }
     }
 }
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 35c66dfcb0..2d74c971c1 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1070,19 +1070,19 @@ const AP_Param::Info Plane::var_info[] = {
 
     // @Group: SR0_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(gcs[0], gcs0,        "SR0_",     GCS_MAVLINK),
+    GOBJECTN(gcs_chan[0], gcs0,        "SR0_",     GCS_MAVLINK),
 
     // @Group: SR1_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(gcs[1],  gcs1,       "SR1_",     GCS_MAVLINK),
+    GOBJECTN(gcs_chan[1],  gcs1,       "SR1_",     GCS_MAVLINK),
 
     // @Group: SR2_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(gcs[2],  gcs2,       "SR2_",     GCS_MAVLINK),
+    GOBJECTN(gcs_chan[2],  gcs2,       "SR2_",     GCS_MAVLINK),
 
     // @Group: SR3_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(gcs[3],  gcs3,       "SR3_",     GCS_MAVLINK),
+    GOBJECTN(gcs_chan[3],  gcs3,       "SR3_",     GCS_MAVLINK),
 
     // @Group: INS_
     // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index e894a44639..7bc23afd98 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -251,7 +251,7 @@ private:
     // GCS selection
     AP_SerialManager serial_manager;
     const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
-    GCS_MAVLINK_Plane gcs[MAVLINK_COMM_NUM_BUFFERS];
+    GCS_MAVLINK_Plane gcs_chan[MAVLINK_COMM_NUM_BUFFERS];
 
     // selected navigation controller
     AP_Navigation *nav_controller = &L1_controller;
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 12ce31eed8..9d400687ee 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -122,7 +122,7 @@ void Plane::init_ardupilot()
 
     // initialise serial ports
     serial_manager.init();
-    gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
+    gcs_chan[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
 
     // Register mavlink_delay_cb, which will run anytime you have
     // more than 5ms remaining in your call to hal.scheduler->delay
@@ -162,7 +162,7 @@ void Plane::init_ardupilot()
 
     // setup telem slots with serial ports
     for (uint8_t i = 1; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
-        gcs[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
+        gcs_chan[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
     }
 
     // setup frsky
@@ -232,11 +232,11 @@ void Plane::init_ardupilot()
     if (g.cli_enabled == 1) {
         const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
         cliSerial->printf("%s\n", msg);
-        if (gcs[1].initialised && (gcs[1].get_uart() != nullptr)) {
-            gcs[1].get_uart()->printf("%s\n", msg);
+        if (gcs_chan[1].initialised && (gcs_chan[1].get_uart() != nullptr)) {
+            gcs_chan[1].get_uart()->printf("%s\n", msg);
         }
-        if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != nullptr)) {
-            gcs[2].get_uart()->printf("%s\n", msg);
+        if (num_gcs > 2 && gcs_chan[2].initialised && (gcs_chan[2].get_uart() != nullptr)) {
+            gcs_chan[2].get_uart()->printf("%s\n", msg);
         }
     }
 #endif // CLI_ENABLED
@@ -571,8 +571,8 @@ void Plane::check_long_failsafe()
                    (tnow - failsafe.last_heartbeat_ms) > g.long_fs_timeout*1000) {
             failsafe_long_on_event(FAILSAFE_GCS, MODE_REASON_GCS_FAILSAFE);
         } else if (g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HB_RSSI && 
-                   gcs[0].last_radio_status_remrssi_ms != 0 &&
-                   (tnow - gcs[0].last_radio_status_remrssi_ms) > g.long_fs_timeout*1000) {
+                   gcs_chan[0].last_radio_status_remrssi_ms != 0 &&
+                   (tnow - gcs_chan[0].last_radio_status_remrssi_ms) > g.long_fs_timeout*1000) {
             failsafe_long_on_event(FAILSAFE_GCS, MODE_REASON_GCS_FAILSAFE);
         }
     } else {