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AP_RCProtocol: auto-create Frsky_Telem object when needed for FPort

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This commit is contained in:
Andrew Tridgell 2020-01-01 17:33:31 +11:00
parent 9579e64a03
commit f8847bf569
1 changed files with 1 additions and 8 deletions
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9
libraries/AP_RCProtocol/AP_RCProtocol_FPort.cpp
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@ -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<sizeof(buf); i++) {
uint8_t c = buf[i];