AP_GPS: use GCS_SEND_TEXT()

libraries/AP_GPS/AP_GPS.cpp

@@ -1172,7 +1172,7 @@ void AP_GPS::broadcast_first_configuration_failure_reason(void) const
     uint8_t unconfigured;
     if (first_unconfigured_gps(unconfigured)) {
         if (drivers[unconfigured] == nullptr) {
-            gcs().send_text(MAV_SEVERITY_INFO, "GPS %d: was not found", unconfigured + 1);
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %d: was not found", unconfigured + 1);
         } else {
             drivers[unconfigured]->broadcast_configuration_failure_reason();
         }

libraries/AP_GPS/AP_GPS_SBF.cpp

@@ -351,7 +351,7 @@ AP_GPS_SBF::process_message(void)
         check_new_itow(temp.TOW, sbf_msg.length);
         RxState = temp.RxState;
         if ((RxError & RX_ERROR_MASK) != (temp.RxError & RX_ERROR_MASK)) {
-            gcs().send_text(MAV_SEVERITY_INFO, "GPS %u: SBF error changed (0x%08x/0x%08x)", (unsigned int)(state.instance + 1),
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %u: SBF error changed (0x%08x/0x%08x)", (unsigned int)(state.instance + 1),
                             (unsigned int)(RxError & RX_ERROR_MASK), (unsigned int)(temp.RxError & RX_ERROR_MASK));
         }
         RxError = temp.RxError;
@@ -382,7 +382,7 @@ void AP_GPS_SBF::broadcast_configuration_failure_reason(void) const
 {
     if (gps._auto_config != AP_GPS::GPS_AUTO_CONFIG_DISABLE &&
         _init_blob_index < ARRAY_SIZE(_initialisation_blob)) {
-        gcs().send_text(MAV_SEVERITY_INFO, "GPS %u: SBF is not fully configured (%u/%u)", state.instance + 1,
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %u: SBF is not fully configured (%u/%u)", state.instance + 1,
                         _init_blob_index, (unsigned)ARRAY_SIZE(_initialisation_blob));
     }
 }
@@ -404,7 +404,7 @@ void AP_GPS_SBF::mount_disk (void) const {
 
 void AP_GPS_SBF::unmount_disk (void) const {
     const char* command = "emd, DSK1, Unmount\n";
-    gcs().send_text(MAV_SEVERITY_DEBUG, "SBF unmounting disk");
+    GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "SBF unmounting disk");
     port->write((const uint8_t*)command, strlen(command));
 }
 
@@ -413,22 +413,22 @@ bool AP_GPS_SBF::prepare_for_arming(void) {
     if (gps._raw_data) {
         if (!(RxState & SBF_DISK_MOUNTED)){
             is_logging = false;
-            gcs().send_text(MAV_SEVERITY_INFO, "GPS %d: SBF disk is not mounted", state.instance + 1);
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %d: SBF disk is not mounted", state.instance + 1);
 
             // simply attempt to mount the disk, no need to check if the command was
             // ACK/NACK'd as we don't continuously attempt to remount the disk
-            gcs().send_text(MAV_SEVERITY_INFO, "GPS %d: Attempting to mount disk", state.instance + 1);
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %d: Attempting to mount disk", state.instance + 1);
             mount_disk();
             // reset the flag to indicate if we should be logging
             _has_been_armed = false;
         }
         else if (RxState & SBF_DISK_FULL) {
             is_logging = false;
-            gcs().send_text(MAV_SEVERITY_INFO, "GPS %d: SBF disk is full", state.instance + 1);
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %d: SBF disk is full", state.instance + 1);
         }
         else if (!(RxState & SBF_DISK_ACTIVITY)) {
             is_logging = false;
-            gcs().send_text(MAV_SEVERITY_INFO, "GPS %d: SBF is not currently logging", state.instance + 1);
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %d: SBF is not currently logging", state.instance + 1);
         }
     }
 

libraries/AP_GPS/AP_GPS_SBP2.cpp

@@ -51,7 +51,7 @@ do {                                            \
 #if SBP_INFOREPORTING
  # define Info(fmt, args ...)                                               \
 do {                                                                        \
-    gcs().send_text(MAV_SEVERITY_INFO, fmt "\n", ## args); \
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, fmt "\n", ## args); \
 } while(0) 
 #else
  # define Info(fmt, args ...)

libraries/AP_GPS/AP_GPS_UBLOX.cpp

@@ -47,12 +47,6 @@
 
 extern const AP_HAL::HAL& hal;
 
-#ifdef HAL_NO_GCS
-#define GCS_SEND_TEXT(severity, format, args...)
-#else
-#define GCS_SEND_TEXT(severity, format, args...) gcs().send_text(severity, format, ##args)
-#endif
-
 #if UBLOX_DEBUGGING
  # define Debug(fmt, args ...)  do {hal.console->printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); hal.scheduler->delay(1); } while(0)
 #else