From 1efc08b54e1ed3e229ae70c80fbf3da62fde0d39 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 2 Mar 2019 10:27:11 +1100
Subject: [PATCH] AP_FrSky_Telem: eliminate use of Copter's _ap data

---
 libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp | 14 ++++----------
 libraries/AP_Frsky_Telem/AP_Frsky_Telem.h   | 11 ++---------
 2 files changed, 6 insertions(+), 19 deletions(-)

diff --git a/libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp b/libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
index 97f8d0791f..0a4f6309f4 100644
--- a/libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
+++ b/libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
@@ -37,7 +37,7 @@ ObjectArray<mavlink_statustext_t> AP_Frsky_Telem::_statustext_queue(FRSKY_TELEM_
 /*
  * init - perform required initialisation
  */
-void AP_Frsky_Telem::init(const uint32_t *ap_valuep)
+void AP_Frsky_Telem::init()
 {
     const AP_SerialManager &serial_manager = AP::serialmanager();
 
@@ -58,13 +58,6 @@ void AP_Frsky_Telem::init(const uint32_t *ap_valuep)
             snprintf(firmware_buf, sizeof(firmware_buf), "%s %s", AP::fwversion().fw_string, _frame_string);
             queue_message(MAV_SEVERITY_INFO, firmware_buf);
         }
-        // save main parameters locally
-        if (ap_valuep == nullptr) { // ap bit-field
-            _ap.value = 0x2000; // set "initialised" to 1 for rover and plane
-            _ap.valuep = &_ap.value;
-        } else {
-            _ap.valuep = ap_valuep;
-        }
     }
     
     if (_port != nullptr) {
@@ -122,7 +115,7 @@ void AP_Frsky_Telem::send_SPort_Passthrough(void)
                 return;
             }
             if ((now - _passthrough.ap_status_timer) >= 500) {
-                if (((*_ap.valuep) & AP_INITIALIZED_FLAG) > 0) {  // send ap status only once vehicle has been initialised
+                if (gcs().vehicle_initialised()) {  // send ap status only once vehicle has been initialised
                     send_uint32(DIY_FIRST_ID+1, calc_ap_status());
                     _passthrough.ap_status_timer = AP_HAL::millis();
                 }
@@ -701,7 +694,8 @@ uint32_t AP_Frsky_Telem::calc_ap_status(void)
     // control/flight mode number (limit to 31 (0x1F) since the value is stored on 5 bits)
     ap_status = (uint8_t)((gcs().custom_mode()+1) & AP_CONTROL_MODE_LIMIT);
     // simple/super simple modes flags
-    ap_status |= (uint8_t)((*_ap.valuep) & AP_SSIMPLE_FLAGS)<<AP_SSIMPLE_OFFSET;
+    ap_status |= (uint8_t)(gcs().simple_input_active())<<AP_SIMPLE_OFFSET;
+    ap_status |= (uint8_t)(gcs().supersimple_input_active())<<AP_SSIMPLE_OFFSET;
     // is_flying flag
     ap_status |= (uint8_t)(AP_Notify::flags.flying) << AP_FLYING_OFFSET;
     // armed flag
diff --git a/libraries/AP_Frsky_Telem/AP_Frsky_Telem.h b/libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
index 7efe465a06..5f6381748f 100644
--- a/libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
+++ b/libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
@@ -85,9 +85,8 @@ for FrSky SPort Passthrough
 #define BATT_TOTALMAH_OFFSET        17
 // for autopilot status data
 #define AP_CONTROL_MODE_LIMIT       0x1F
-#define AP_SSIMPLE_FLAGS            0x6
+#define AP_SIMPLE_OFFSET            3
 #define AP_SSIMPLE_OFFSET           4
-#define AP_INITIALIZED_FLAG         0x2000
 #define AP_FLYING_OFFSET            6
 #define AP_ARMED_OFFSET             8
 #define AP_BATT_FS_OFFSET           9
@@ -120,7 +119,7 @@ public:
     AP_Frsky_Telem &operator=(const AP_Frsky_Telem&) = delete;
 
     // init - perform required initialisation
-    void init(const uint32_t *ap_valuep = nullptr);
+    void init();
 
     // add statustext message to FrSky lib message queue
     void queue_message(MAV_SEVERITY severity, const char *text);
@@ -139,12 +138,6 @@ private:
     bool _initialised_uart;
     uint16_t _crc;
 
-    struct
-    {
-        uint32_t value;
-        const uint32_t *valuep;
-    } _ap;
-
     uint32_t check_sensor_status_timer;
     uint32_t check_ekf_status_timer;
     uint8_t _paramID;