Copter: FrSky support has moved to GCS

ArduCopter/Copter.h

@@ -109,9 +109,6 @@
  # include <AC_PrecLand/AC_PrecLand.h>
  # include <AP_IRLock/AP_IRLock.h>
 #endif
-#if FRSKY_TELEM_ENABLED == ENABLED
- # include <AP_Frsky_Telem/AP_Frsky_Telem.h>
-#endif
 #if ADSB_ENABLED == ENABLED
  # include <AP_ADSB/AP_ADSB.h>
 #endif
@@ -404,10 +401,6 @@ private:
                            FUNCTOR_BIND_MEMBER(&Copter::handle_battery_failsafe, void, const char*, const int8_t),
                            _failsafe_priorities};
 
-#if FRSKY_TELEM_ENABLED == ENABLED
-    // FrSky telemetry support
-    AP_Frsky_Telem frsky_telemetry;
-#endif
 #if DEVO_TELEM_ENABLED == ENABLED
     AP_DEVO_Telem devo_telemetry;
 #endif

ArduCopter/GCS_Copter.cpp

@@ -2,6 +2,11 @@
 
 #include "Copter.h"
 
+const char* GCS_Copter::frame_string() const
+{
+    return copter.get_frame_string();
+}
+
 // update error mask of sensors and subsystems. The mask
 // uses the MAV_SYS_STATUS_* values from mavlink. If a bit is set
 // then it indicates that the sensor or subsystem is present but
@@ -220,9 +225,4 @@ void GCS_Copter::update_sensor_status_flags(void)
         control_sensors_health &= ~MAV_SYS_STATUS_GEOFENCE;
     }
 #endif
-
-#if FRSKY_TELEM_ENABLED == ENABLED
-    // give mask of error flags to Frsky_Telemetry
-    copter.frsky_telemetry.update_sensor_status_flags(~control_sensors_health & control_sensors_enabled & control_sensors_present);
-#endif
 }

ArduCopter/GCS_Copter.h

@@ -22,6 +22,11 @@ public:
 
     void update_sensor_status_flags(void) override;
 
+    uint32_t custom_mode() const override;
+    MAV_TYPE frame_type() const override;
+
+    const char* frame_string() const override;
+
 private:
 
     GCS_MAVLINK_Copter _chan[MAVLINK_COMM_NUM_BUFFERS];

ArduCopter/GCS_Mavlink.cpp

@@ -18,7 +18,7 @@ void Copter::gcs_send_heartbeat(void)
  *  pattern below when adding any new messages
  */
 
-MAV_TYPE GCS_MAVLINK_Copter::frame_type() const
+MAV_TYPE GCS_Copter::frame_type() const
 {
     return copter.get_frame_mav_type();
 }
@@ -73,12 +73,11 @@ MAV_MODE GCS_MAVLINK_Copter::base_mode() const
     return (MAV_MODE)_base_mode;
 }
 
-uint32_t GCS_MAVLINK_Copter::custom_mode() const
+uint32_t GCS_Copter::custom_mode() const
 {
     return copter.control_mode;
 }
 
-
 MAV_STATE GCS_MAVLINK_Copter::system_status() const
 {
     // set system as critical if any failsafe have triggered

ArduCopter/GCS_Mavlink.h

@@ -59,9 +59,7 @@ private:
     void packetReceived(const mavlink_status_t &status,
                         mavlink_message_t &msg) override;
 
-    MAV_TYPE frame_type() const override;
     MAV_MODE base_mode() const override;
-    uint32_t custom_mode() const override;
     MAV_STATE system_status() const override;
 
     int16_t vfr_hud_throttle() const override;

ArduCopter/mode.cpp

@@ -234,9 +234,6 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
     fence.manual_recovery_start();
 #endif
 
-#if FRSKY_TELEM_ENABLED == ENABLED
-    frsky_telemetry.update_control_mode(control_mode);
-#endif
 #if DEVO_TELEM_ENABLED == ENABLED
     devo_telemetry.update_control_mode(control_mode);
 #endif

ArduCopter/system.cpp

@@ -87,13 +87,6 @@ void Copter::init_ardupilot()
     // setup telem slots with serial ports
     gcs().setup_uarts(serial_manager);
 
-#if FRSKY_TELEM_ENABLED == ENABLED
-    // setup frsky, and pass a number of parameters to the library
-    frsky_telemetry.init(get_frame_mav_type(),
-                         &ap.value);
-    frsky_telemetry.set_frame_string(get_frame_string());
-#endif
-
 #if DEVO_TELEM_ENABLED == ENABLED
     // setup devo
     devo_telemetry.init();