ArduSub: move initialisation of serial and gcs to AP_Vehicle

ArduSub/GCS_Sub.cpp

@@ -2,6 +2,11 @@
 
 #include "Sub.h"
 
+uint8_t GCS_Sub::sysid_this_mav() const
+{
+    return sub.g.sysid_this_mav;
+}
+
 void GCS_Sub::update_vehicle_sensor_status_flags()
 {
     control_sensors_present |=

ArduSub/GCS_Sub.h

@@ -34,6 +34,8 @@ public:
 
 protected:
 
+    uint8_t sysid_this_mav() const override;
+
     // minimum amount of time (in microseconds) that must remain in
     // the main scheduler loop before we are allowed to send any
     // mavlink messages.  We want to prioritise the main flight

ArduSub/system.cpp

@@ -36,15 +36,6 @@ void Sub::init_ardupilot()
     celsius.init(1);
 #endif
 
-    // identify ourselves correctly with the ground station
-    mavlink_system.sysid = g.sysid_this_mav;
-    
-    // initialise serial port
-    serial_manager.init();
-
-    // setup first port early to allow BoardConfig to report errors
-    gcs().setup_console();
-
     // init cargo gripper
 #if GRIPPER_ENABLED == ENABLED
     g2.gripper.init();
@@ -62,8 +53,6 @@ void Sub::init_ardupilot()
 
     barometer.init();
 
-    register_scheduler_delay_callback();
-
     // setup telem slots with serial ports
     gcs().setup_uarts();