From d47a74227283f4bff6a9c060a95b657418278cc0 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 2 Sep 2023 15:21:36 +1000
Subject: [PATCH] RC_Channel: allow more libraries to compile with no
 HAL_GCS_ENABLED

---
 libraries/RC_Channel/RC_Channel.cpp | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 4ea9fa23a5..6e6afa1c2d 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -702,7 +702,7 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const AuxSwitchPo
         run_aux_function(ch_option, ch_flag, AuxFuncTriggerSource::INIT);
         break;
     default:
-        gcs().send_text(MAV_SEVERITY_WARNING, "Failed to init: RC%u_OPTION: %u\n",
+        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Failed to init: RC%u_OPTION: %u\n",
                         (unsigned)(this->ch_in+1), (unsigned)ch_option);
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
         AP_BoardConfig::config_error("Failed to init: RC%u_OPTION: %u",
@@ -830,7 +830,7 @@ bool RC_Channel::read_aux()
     // announce the change to the GCS:
     const char *aux_string = string_for_aux_function(_option);
     if (aux_string != nullptr) {
-        gcs().send_text(MAV_SEVERITY_INFO, "RC%i: %s %s", ch_in+1, aux_string, string_for_aux_pos(new_position));
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "RC%i: %s %s", ch_in+1, aux_string, string_for_aux_pos(new_position));
     }
 #endif
 
@@ -870,19 +870,19 @@ void RC_Channel::do_aux_function_avoid_adsb(const AuxSwitchPos ch_flag)
         }
         // try to enable AP_Avoidance
         if (!adsb->enabled() || !adsb->healthy()) {
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "ADSB not available");
+            GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "ADSB not available");
             return;
         }
         avoidance->enable();
         AP::logger().Write_Event(LogEvent::AVOIDANCE_ADSB_ENABLE);
-        gcs().send_text(MAV_SEVERITY_CRITICAL, "ADSB Avoidance Enabled");
+        GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "ADSB Avoidance Enabled");
         return;
     }
 
     // disable AP_Avoidance
     avoidance->disable();
     AP::logger().Write_Event(LogEvent::AVOIDANCE_ADSB_DISABLE);
-    gcs().send_text(MAV_SEVERITY_CRITICAL, "ADSB Avoidance Disabled");
+    GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "ADSB Avoidance Disabled");
 #endif
 }
 
@@ -1442,7 +1442,7 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
     case AUX_FUNC::OPTFLOW_CAL: {
         AP_OpticalFlow *optflow = AP::opticalflow();
         if (optflow == nullptr) {
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "OptFlow Cal: failed sensor not enabled");
+            GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "OptFlow Cal: failed sensor not enabled");
             break;
         }
         if (ch_flag == AuxSwitchPos::HIGH) {
@@ -1574,7 +1574,7 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
                 const bool autoreboot = false;
                 compass.start_calibration_all(retry, autosave, delay, autoreboot);
             } else {
-                gcs().send_text(MAV_SEVERITY_NOTICE, "Disarm to allow compass calibration");
+                GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Disarm to allow compass calibration");
             }
             break;
         }
@@ -1646,7 +1646,7 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
         break;
 
     default:
-        gcs().send_text(MAV_SEVERITY_INFO, "Invalid channel option (%u)", (unsigned int)ch_option);
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Invalid channel option (%u)", (unsigned int)ch_option);
         return false;
     }