From f3e8819d1ecebe50fe82552ed73c74fb4cb8a683 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 8 Sep 2015 13:53:58 +1000
Subject: [PATCH] GCS_MAVLink: make send_statustext_all() take a format string

this allows for formatted messages to all groundstations in libraries
---
 libraries/GCS_MAVLink/GCS.h          | 2 +-
 libraries/GCS_MAVLink/GCS_Common.cpp | 7 +++++--
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 211bda9342..69502d8751 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -163,7 +163,7 @@ public:
       connections. This function is static so it can be called from
       any library
     */
-    static void send_statustext_all(const prog_char_t *msg);
+    static void send_statustext_all(const prog_char_t *fmt, ...);
 
     /*
       send a MAVLink message to all components with this vehicle's system id
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 6f2b005f1f..877452c429 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1169,14 +1169,17 @@ void GCS_MAVLINK::send_ahrs(AP_AHRS &ahrs)
 /*
   send a statustext message to all active MAVLink connections
  */
-void GCS_MAVLINK::send_statustext_all(const prog_char_t *msg)
+void GCS_MAVLINK::send_statustext_all(const prog_char_t *fmt, ...)
 {
     for (uint8_t i=0; i<MAVLINK_COMM_NUM_BUFFERS; i++) {
         if ((1U<<i) & mavlink_active) {
             mavlink_channel_t chan = (mavlink_channel_t)(MAVLINK_COMM_0+i);
             if (comm_get_txspace(chan) >= MAVLINK_NUM_NON_PAYLOAD_BYTES + MAVLINK_MSG_ID_STATUSTEXT_LEN) {
                 char msg2[50];
-                strncpy_P(msg2, msg, sizeof(msg2));
+                va_list arg_list;
+                va_start(arg_list, fmt);
+                hal.util->vsnprintf_P((char *)msg2, sizeof(msg2), fmt, arg_list);
+                va_end(arg_list);
                 mavlink_msg_statustext_send(chan,
                                             MAV_SEVERITY_CRITICAL,
                                             msg2);