AP_MSP: removed unnecessary pure virtual methods

libraries/AP_MSP/AP_MSP_Telem_Backend.cpp

@@ -576,6 +576,44 @@ void AP_MSP_Telem_Backend::msp_handle_airspeed(const MSP::msp_airspeed_data_mess
 #endif
 }
 
+MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_api_version(sbuf_t *dst)
+{
+    const struct {
+        uint8_t proto;
+        uint8_t major;
+        uint8_t minor;
+    } api_version  {
+        proto : MSP_PROTOCOL_VERSION,
+        major : API_VERSION_MAJOR,
+        minor : API_VERSION_MINOR
+    };
+
+    sbuf_write_data(dst, &api_version, sizeof(api_version));
+    return MSP_RESULT_ACK;
+}
+
+MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_fc_version(sbuf_t *dst)
+{
+    const struct {
+        uint8_t major;
+        uint8_t minor;
+        uint8_t patch;
+    } fc_version {
+        major : FC_VERSION_MAJOR,
+        minor : FC_VERSION_MINOR,
+        patch : FC_VERSION_PATCH_LEVEL
+    };
+
+    sbuf_write_data(dst, &fc_version, sizeof(fc_version));
+    return MSP_RESULT_ACK;
+}
+
+MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_fc_variant(sbuf_t *dst)
+{
+    sbuf_write_data(dst, "ARDU", FLIGHT_CONTROLLER_IDENTIFIER_LENGTH);
+    return MSP_RESULT_ACK;
+}
+
 MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_raw_gps(sbuf_t *dst)
 {
 #if OSD_ENABLED

libraries/AP_MSP/AP_MSP_Telem_Backend.h

@@ -191,9 +191,9 @@ protected:
     virtual AP_SerialManager::SerialProtocol get_serial_protocol() const = 0;
 
     // implementation specific MSP out command processing
-    virtual MSP::MSPCommandResult msp_process_out_api_version(MSP::sbuf_t *dst) = 0;
-    virtual MSP::MSPCommandResult msp_process_out_fc_version(MSP::sbuf_t *dst) = 0;
-    virtual MSP::MSPCommandResult msp_process_out_fc_variant(MSP::sbuf_t *dst) = 0;
+    virtual MSP::MSPCommandResult msp_process_out_api_version(MSP::sbuf_t *dst);
+    virtual MSP::MSPCommandResult msp_process_out_fc_version(MSP::sbuf_t *dst);
+    virtual MSP::MSPCommandResult msp_process_out_fc_variant(MSP::sbuf_t *dst);
     virtual MSP::MSPCommandResult msp_process_out_uid(MSP::sbuf_t *dst);
     virtual MSP::MSPCommandResult msp_process_out_board_info(MSP::sbuf_t *dst);
     virtual MSP::MSPCommandResult msp_process_out_build_info(MSP::sbuf_t *dst);

libraries/AP_MSP/AP_MSP_Telem_DJI.cpp

@@ -82,38 +82,6 @@ uint32_t AP_MSP_Telem_DJI::get_osd_flight_mode_bitmask(void)
     return mode_mask;
 }
 
-MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_api_version(sbuf_t *dst)
-{
-    const struct {
-        uint8_t proto;
-        uint8_t major;
-        uint8_t minor;
-    } api_version  {
-        proto : MSP_PROTOCOL_VERSION,
-        major : API_VERSION_MAJOR,
-        minor : API_VERSION_MINOR
-    };
-
-    sbuf_write_data(dst, &api_version, sizeof(api_version));
-    return MSP_RESULT_ACK;
-}
-
-MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_fc_version(sbuf_t *dst)
-{
-    const struct {
-        uint8_t major;
-        uint8_t minor;
-        uint8_t patch;
-    } fc_version {
-        major : FC_VERSION_MAJOR,
-        minor : FC_VERSION_MINOR,
-        patch : FC_VERSION_PATCH_LEVEL
-    };
-
-    sbuf_write_data(dst, &fc_version, sizeof(fc_version));
-    return MSP_RESULT_ACK;
-}
-
 MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_fc_variant(sbuf_t *dst)
 {
     sbuf_write_data(dst, "BTFL", FLIGHT_CONTROLLER_IDENTIFIER_LENGTH);

libraries/AP_MSP/AP_MSP_Telem_DJI.h

@@ -55,8 +55,6 @@ public:
     AP_SerialManager::SerialProtocol get_serial_protocol() const override { return AP_SerialManager::SerialProtocol::SerialProtocol_DJI_FPV; };
     uint32_t get_osd_flight_mode_bitmask(void) override;
     void hide_osd_items(void) override;
-    MSP::MSPCommandResult msp_process_out_api_version(MSP::sbuf_t *dst) override;
-    MSP::MSPCommandResult msp_process_out_fc_version(MSP::sbuf_t *dst) override;
     MSP::MSPCommandResult msp_process_out_fc_variant(MSP::sbuf_t *dst) override;
     MSP::MSPCommandResult msp_process_out_esc_sensor_data(MSP::sbuf_t *dst) override;
 

libraries/AP_MSP/AP_MSP_Telem_DisplayPort.cpp

@@ -25,38 +25,6 @@ extern const AP_HAL::HAL& hal;
 
 using namespace MSP;
 
-MSPCommandResult AP_MSP_Telem_DisplayPort::msp_process_out_api_version(sbuf_t *dst)
-{
-    const struct {
-        uint8_t proto;
-        uint8_t major;
-        uint8_t minor;
-    } api_version  {
-        proto : MSP_PROTOCOL_VERSION,
-        major : API_VERSION_MAJOR,
-        minor : API_VERSION_MINOR
-    };
-
-    sbuf_write_data(dst, &api_version, sizeof(api_version));
-    return MSP_RESULT_ACK;
-}
-
-MSPCommandResult AP_MSP_Telem_DisplayPort::msp_process_out_fc_version(sbuf_t *dst)
-{
-    const struct {
-        uint8_t major;
-        uint8_t minor;
-        uint8_t patch;
-    } fc_version {
-        major : FC_VERSION_MAJOR,
-        minor : FC_VERSION_MINOR,
-        patch : FC_VERSION_PATCH_LEVEL
-    };
-
-    sbuf_write_data(dst, &fc_version, sizeof(fc_version));
-    return MSP_RESULT_ACK;
-}
-
 MSPCommandResult AP_MSP_Telem_DisplayPort::msp_process_out_fc_variant(sbuf_t *dst)
 {
     const AP_MSP *msp = AP::msp();

libraries/AP_MSP/AP_MSP_Telem_DisplayPort.h

@@ -28,8 +28,6 @@ public:
     bool use_msp_thread() const override { return false; }
     AP_SerialManager::SerialProtocol get_serial_protocol() const override { return AP_SerialManager::SerialProtocol::SerialProtocol_MSP_DisplayPort; };
 
-    MSP::MSPCommandResult msp_process_out_api_version(MSP::sbuf_t *dst) override;
-    MSP::MSPCommandResult msp_process_out_fc_version(MSP::sbuf_t *dst) override;
     MSP::MSPCommandResult msp_process_out_fc_variant(MSP::sbuf_t *dst) override;
 };
 

libraries/AP_MSP/AP_MSP_Telem_Generic.cpp

@@ -25,42 +25,4 @@ extern const AP_HAL::HAL& hal;
 
 using namespace MSP;
 
-MSPCommandResult AP_MSP_Telem_Generic::msp_process_out_api_version(sbuf_t *dst)
-{
-    const struct {
-        uint8_t proto;
-        uint8_t major;
-        uint8_t minor;
-    } api_version  {
-        proto : MSP_PROTOCOL_VERSION,
-        major : API_VERSION_MAJOR,
-        minor : API_VERSION_MINOR
-    };
-
-    sbuf_write_data(dst, &api_version, sizeof(api_version));
-    return MSP_RESULT_ACK;
-}
-
-MSPCommandResult AP_MSP_Telem_Generic::msp_process_out_fc_version(sbuf_t *dst)
-{
-    const struct {
-        uint8_t major;
-        uint8_t minor;
-        uint8_t patch;
-    } fc_version {
-        major : FC_VERSION_MAJOR,
-        minor : FC_VERSION_MINOR,
-        patch : FC_VERSION_PATCH_LEVEL
-    };
-
-    sbuf_write_data(dst, &fc_version, sizeof(fc_version));
-    return MSP_RESULT_ACK;
-}
-
-MSPCommandResult AP_MSP_Telem_Generic::msp_process_out_fc_variant(sbuf_t *dst)
-{
-    sbuf_write_data(dst, "ARDU", FLIGHT_CONTROLLER_IDENTIFIER_LENGTH);
-    return MSP_RESULT_ACK;
-}
-
 #endif //HAL_MSP_ENABLED

libraries/AP_MSP/AP_MSP_Telem_Generic.h

@@ -26,9 +26,6 @@ class AP_MSP_Telem_Generic : public AP_MSP_Telem_Backend
 public:
     bool is_scheduler_enabled() const override { return false; }
     AP_SerialManager::SerialProtocol get_serial_protocol() const override { return AP_SerialManager::SerialProtocol::SerialProtocol_MSP; };
-    MSP::MSPCommandResult msp_process_out_api_version(MSP::sbuf_t *dst) override;
-    MSP::MSPCommandResult msp_process_out_fc_version(MSP::sbuf_t *dst) override;
-    MSP::MSPCommandResult msp_process_out_fc_variant(MSP::sbuf_t *dst) override;
 };
 
 #endif //HAL_MSP_ENABLED