From e22b29bce431ec8defb7c44598e3b3f23957a509 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 1 Mar 2019 17:08:33 +1100 Subject: [PATCH] Copter: FrSky support has moved to GCS --- ArduCopter/Copter.h | 7 ------- ArduCopter/GCS_Copter.cpp | 10 +++++----- ArduCopter/GCS_Copter.h | 5 +++++ ArduCopter/GCS_Mavlink.cpp | 5 ++--- ArduCopter/GCS_Mavlink.h | 2 -- ArduCopter/mode.cpp | 3 --- ArduCopter/system.cpp | 7 ------- 7 files changed, 12 insertions(+), 27 deletions(-) diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h index a46da47ebb..4fd5584a1a 100644 --- a/ArduCopter/Copter.h +++ b/ArduCopter/Copter.h @@ -109,9 +109,6 @@ # include # include #endif -#if FRSKY_TELEM_ENABLED == ENABLED - # include -#endif #if ADSB_ENABLED == ENABLED # include #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 diff --git a/ArduCopter/GCS_Copter.cpp b/ArduCopter/GCS_Copter.cpp index a522468fec..53a670715b 100644 --- a/ArduCopter/GCS_Copter.cpp +++ b/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 } diff --git a/ArduCopter/GCS_Copter.h b/ArduCopter/GCS_Copter.h index 303b754235..cde308b539 100644 --- a/ArduCopter/GCS_Copter.h +++ b/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]; diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp index 06a1dc6276..f0999220bd 100644 --- a/ArduCopter/GCS_Mavlink.cpp +++ b/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 diff --git a/ArduCopter/GCS_Mavlink.h b/ArduCopter/GCS_Mavlink.h index b83e1886ba..ad4beae439 100644 --- a/ArduCopter/GCS_Mavlink.h +++ b/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; diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp index 57e6af0aad..f214739cd9 100644 --- a/ArduCopter/mode.cpp +++ b/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 diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp index e530961a59..33f2c382ca 100644 --- a/ArduCopter/system.cpp +++ b/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();