diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_FPort.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_FPort.cpp index 1232e3d779..2550b3246f 100644 --- a/libraries/AP_RCProtocol/AP_RCProtocol_FPort.cpp +++ b/libraries/AP_RCProtocol/AP_RCProtocol_FPort.cpp @@ -141,11 +141,6 @@ void AP_RCProtocol_FPort::decode_downlink(const FPort_Frame &frame) return; } - AP_Frsky_Telem *frsky = AP::frsky_telem(); - if (!frsky) { - return; - } - /* check that we haven't been too slow in responding to the new UART data. If we respond too late then we will corrupt the next @@ -166,7 +161,7 @@ void AP_RCProtocol_FPort::decode_downlink(const FPort_Frame &frame) uint8_t frametype; uint16_t appid; uint32_t data; - if (frsky->get_telem_data(frametype, appid, data)) { + if (AP_Frsky_Telem::get_telem_data(frametype, appid, data)) { uint8_t buf[10]; buf[0] = 0x08; @@ -187,12 +182,10 @@ void AP_RCProtocol_FPort::decode_downlink(const FPort_Frame &frame) uint8_t len = 0; uint8_t buf2[sizeof(buf)*2+1]; -#if !APM_BUILD_TYPE(APM_BUILD_iofirmware) if (rc().fport_pad()) { // this padding helps on some uarts that have hw pullups buf2[len++] = 0xff; } -#endif for (uint8_t i=0; i