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Copter: support for a GCS singleton

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This commit is contained in:
Peter Barker 2016-05-30 20:05:06 +10:00 committed by Andrew Tridgell
parent f49f153da0
commit 029aeeb4fd
3 changed files with 6 additions and 4 deletions
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2
ArduCopter/Copter.h
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@ -239,6 +239,8 @@ private:
static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS; static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
GCS_MAVLINK_Copter gcs_chan[MAVLINK_COMM_NUM_BUFFERS]; GCS_MAVLINK_Copter gcs_chan[MAVLINK_COMM_NUM_BUFFERS];
GCS _gcs; // avoid using this; use gcs()
GCS &gcs() { return _gcs; }
// User variables // User variables
#ifdef USERHOOK_VARIABLES #ifdef USERHOOK_VARIABLES

6
ArduCopter/GCS_Mavlink.cpp
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@ -11,7 +11,7 @@ void Copter::gcs_send_heartbeat(void)
void Copter::gcs_send_deferred(void) void Copter::gcs_send_deferred(void)
{ {
gcs_send_message(MSG_RETRY_DEFERRED); gcs_send_message(MSG_RETRY_DEFERRED);
GCS_MAVLINK::service_statustext(); gcs().service_statustext();
} }
/* /*
@ -2075,7 +2075,7 @@ void Copter::gcs_check_input(void)
void Copter::gcs_send_text(MAV_SEVERITY severity, const char *str) void Copter::gcs_send_text(MAV_SEVERITY severity, const char *str)
{ {
GCS_MAVLINK::send_statustext(severity, 0xFF, str); gcs().send_statustext(severity, 0xFF, str);
notify.send_text(str); notify.send_text(str);
} }
@ -2091,7 +2091,7 @@ void Copter::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
va_start(arg_list, fmt); va_start(arg_list, fmt);
va_end(arg_list); va_end(arg_list);
hal.util->vsnprintf((char *)str, sizeof(str), fmt, arg_list); hal.util->vsnprintf((char *)str, sizeof(str), fmt, arg_list);
GCS_MAVLINK::send_statustext(severity, 0xFF, str); gcs().send_statustext(severity, 0xFF, str);
notify.send_text(str); notify.send_text(str);
} }

2
ArduCopter/system.cpp
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@ -111,7 +111,7 @@ void Copter::init_ardupilot()
// initialise stats module // initialise stats module
g2.stats.init(); g2.stats.init();
GCS_MAVLINK::set_dataflash(&DataFlash); gcs().set_dataflash(&DataFlash);
// identify ourselves correctly with the ground station // identify ourselves correctly with the ground station
mavlink_system.sysid = g.sysid_this_mav; mavlink_system.sysid = g.sysid_this_mav;