From f82fa22833dbeeaca94a6d6954f2ea9fd392c1a8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 8 Jul 2017 12:02:04 +1000
Subject: [PATCH] Sub: eliminate gcs_end_message wrapper

---
 ArduSub/ArduSub.cpp        |  2 +-
 ArduSub/GCS_Mavlink.cpp    | 14 +++-----------
 ArduSub/Sub.h              |  1 -
 ArduSub/commands_logic.cpp |  2 +-
 4 files changed, 5 insertions(+), 14 deletions(-)

diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index 883a324f93..05f178220d 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -240,7 +240,7 @@ void Sub::update_trigger(void)
 {
     camera.trigger_pic_cleanup();
     if (camera.check_trigger_pin()) {
-        gcs_send_message(MSG_CAMERA_FEEDBACK);
+        gcs().send_message(MSG_CAMERA_FEEDBACK);
         if (should_log(MASK_LOG_CAMERA)) {
             DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
         }
diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
index 37284c955b..caf52c3603 100644
--- a/ArduSub/GCS_Mavlink.cpp
+++ b/ArduSub/GCS_Mavlink.cpp
@@ -8,12 +8,12 @@
 
 void Sub::gcs_send_heartbeat(void)
 {
-    gcs_send_message(MSG_HEARTBEAT);
+    gcs().send_message(MSG_HEARTBEAT);
 }
 
 void Sub::gcs_send_deferred(void)
 {
-    gcs_send_message(MSG_RETRY_DEFERRED);
+    gcs().send_message(MSG_RETRY_DEFERRED);
     gcs().service_statustext();
 }
 
@@ -1815,7 +1815,7 @@ void Sub::mavlink_delay_cb()
     if (tnow - last_1hz > 1000) {
         last_1hz = tnow;
         gcs_send_heartbeat();
-        gcs_send_message(MSG_EXTENDED_STATUS1);
+        gcs().send_message(MSG_EXTENDED_STATUS1);
     }
     if (tnow - last_50hz > 20) {
         last_50hz = tnow;
@@ -1833,14 +1833,6 @@ void Sub::mavlink_delay_cb()
     in_mavlink_delay = false;
 }
 
-/*
- *  send a message on both GCS links
- */
-void Sub::gcs_send_message(enum ap_message id)
-{
-    gcs().send_message(id);
-}
-
 /*
  *  send a mission item reached message and load the index before the send attempt in case it may get delayed
  */
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index d662aeb811..3b63175466 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -493,7 +493,6 @@ private:
 #endif
     void send_temperature(mavlink_channel_t chan);
     void send_pid_tuning(mavlink_channel_t chan);
-    void gcs_send_message(enum ap_message id);
     void gcs_send_mission_item_reached_message(uint16_t mission_index);
     void gcs_data_stream_send(void);
     void gcs_check_input(void);
diff --git a/ArduSub/commands_logic.cpp b/ArduSub/commands_logic.cpp
index aafccddce3..f023135052 100644
--- a/ArduSub/commands_logic.cpp
+++ b/ArduSub/commands_logic.cpp
@@ -894,7 +894,7 @@ void Sub::do_take_picture()
 void Sub::log_picture()
 {
     if (!camera.using_feedback_pin()) {
-        gcs_send_message(MSG_CAMERA_FEEDBACK);
+        gcs().send_message(MSG_CAMERA_FEEDBACK);
         if (should_log(MASK_LOG_CAMERA)) {
             DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
         }