From 039f42d916c3bb6b24ae860c8d2eedabe83f32cb Mon Sep 17 00:00:00 2001
From: Lucas De Marchi <lucas.demarchi@intel.com>
Date: Tue, 3 Nov 2015 11:46:30 -0200
Subject: [PATCH] GCS_MAVLink: remove checks for HAL_BOARD_APM2 and
 HAL_BOARD_APM1

---
 libraries/GCS_MAVLink/GCS_Common.cpp | 14 ++++----------
 libraries/GCS_MAVLink/GCS_MAVLink.h  | 25 +------------------------
 2 files changed, 5 insertions(+), 34 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index fe39364ac5..e73fa1b1dc 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -197,11 +197,8 @@ void GCS_MAVLINK::reset_cli_timeout() {
 
 void GCS_MAVLINK::send_meminfo(void)
 {
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
-    extern unsigned __brkval;
-#else
     unsigned __brkval = 0;
-#endif
+
     mavlink_msg_meminfo_send(chan, __brkval, hal.util->available_memory());
 }
 
@@ -298,7 +295,7 @@ void GCS_MAVLINK::handle_mission_request(AP_Mission &mission, mavlink_message_t
     ret_packet.autocontinue = 1;     // 1 (true), 0 (false)
 
     /*
-      avoid the _send() function to save memory on APM2, as it avoids
+      avoid the _send() function to save memory, as it avoids
       the stack usage of the _send() function by using the already
       declared ret_packet above
      */
@@ -440,9 +437,8 @@ bool GCS_MAVLINK::have_flow_control(void)
 
 /*
   handle a request to change stream rate. Note that copter passes in
-  save==false, as sending mavlink messages on copter on APM2 costs
-  enough that it can cause flight issues, so we don't want the save to
-  happen when the user connects the ground station.
+  save==false so we don't want the save to happen when the user connects the
+  ground station.
  */
 void GCS_MAVLINK::handle_request_data_stream(mavlink_message_t *msg, bool save)
 {
@@ -510,13 +506,11 @@ void GCS_MAVLINK::handle_param_request_list(mavlink_message_t *msg)
     mavlink_param_request_list_t packet;
     mavlink_msg_param_request_list_decode(msg, &packet);
 
-#if CONFIG_HAL_BOARD != HAL_BOARD_APM1 && CONFIG_HAL_BOARD != HAL_BOARD_APM2
     // send system ID if we can
     char sysid[40];
     if (hal.util->get_system_id(sysid)) {
         send_text(MAV_SEVERITY_WARNING, sysid);
     }
-#endif
 
     // Start sending parameters - next call to ::update will kick the first one out
     _queued_parameter = AP_Param::first(&_queued_parameter_token, &_queued_parameter_type);
diff --git a/libraries/GCS_MAVLink/GCS_MAVLink.h b/libraries/GCS_MAVLink/GCS_MAVLink.h
index 5af1d240c4..c52e72d6a6 100644
--- a/libraries/GCS_MAVLink/GCS_MAVLink.h
+++ b/libraries/GCS_MAVLink/GCS_MAVLink.h
@@ -20,15 +20,8 @@
 // into progmem
 #define MAVLINK_MESSAGE_CRC(msgid) mavlink_get_message_crc(msgid)
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
-#include <util/crc16.h>
-#define HAVE_CRC_ACCUMULATE
-// only two telemetry ports on APM1/APM2
-#define MAVLINK_COMM_NUM_BUFFERS 2
-#else
-// allow four telemetry ports on other boards
+// allow four telemetry ports
 #define MAVLINK_COMM_NUM_BUFFERS 4
-#endif
 
 /*
   The MAVLink protocol code generator does its own alignment, so
@@ -39,14 +32,7 @@
 
 #include "include/mavlink/v1.0/ardupilotmega/version.h"
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
-// this allows us to make mavlink_message_t much smaller. It means we
-// can't support the largest messages in common.xml, but we don't need
-// those for APM1/APM2
-#define MAVLINK_MAX_PAYLOAD_LEN 104
-#else
 #define MAVLINK_MAX_PAYLOAD_LEN 255
-#endif
 
 #include "include/mavlink/v1.0/mavlink_types.h"
 
@@ -92,15 +78,6 @@ uint16_t comm_get_available(mavlink_channel_t chan);
 /// @returns		Number of bytes available
 uint16_t comm_get_txspace(mavlink_channel_t chan);
 
-#ifdef HAVE_CRC_ACCUMULATE
-// use the AVR C library implementation. This is a bit over twice as
-// fast as the C version
-static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
-{
-	*crcAccum = _crc_ccitt_update(*crcAccum, data);
-}
-#endif
-
 /*
   return true if the MAVLink parser is idle, so there is no partly parsed
   MAVLink message being processed