GCS_MAVLink: support member functions for rover

libraries/GCS_MAVLink/GCS.h

@@ -70,7 +70,12 @@ class GCS_MAVLINK
 {
 public:
     GCS_MAVLINK();
-    void        update(void (*run_cli)(AP_HAL::UARTDriver *));
+#if APM_BUILD_TYPE(APM_BUILD_APMrover2)
+    typedef DELEGATE_FUNCTION1(void, AP_HAL::UARTDriver*) run_cli_fn;
+#else
+    typedef void (*run_cli_fn)(AP_HAL::UARTDriver *);
+#endif
+    void        update(run_cli_fn run_cli);
     void        init(AP_HAL::UARTDriver *port, mavlink_channel_t mav_chan);
     void        setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager::SerialProtocol protocol, uint8_t instance);
     void        send_message(enum ap_message id);
@@ -294,7 +299,12 @@ private:
     void handle_radio_status(mavlink_message_t *msg, DataFlash_Class &dataflash, bool log_radio);
     void handle_serial_control(mavlink_message_t *msg, AP_GPS &gps);
     void lock_channel(mavlink_channel_t chan, bool lock);
-    void handle_set_mode(mavlink_message_t* msg, bool (*set_mode)(uint8_t mode));
+#if APM_BUILD_TYPE(APM_BUILD_APMrover2)
+    typedef DELEGATE_FUNCTION1(bool, uint8_t) set_mode_fn;
+#else    
+    typedef bool (*set_mode_fn)(uint8_t);
+#endif
+    void handle_set_mode(mavlink_message_t* msg, set_mode_fn set_mode);
     void handle_gimbal_report(AP_Mount &mount, mavlink_message_t *msg) const;
 
     void handle_gps_inject(const mavlink_message_t *msg, AP_GPS &gps);

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -19,6 +19,8 @@
 
 #include <GCS.h>
 #include <AP_AHRS.h>
+#include <AP_HAL.h>
+#include <AP_Vehicle.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -825,7 +827,7 @@ void GCS_MAVLINK::send_message(enum ap_message id)
 }
 
 void
-GCS_MAVLINK::update(void (*run_cli)(AP_HAL::UARTDriver *))
+GCS_MAVLINK::update(run_cli_fn run_cli)
 {
     // receive new packets
     mavlink_message_t msg;
@@ -1177,7 +1179,7 @@ void GCS_MAVLINK::send_battery2(const AP_BattMonitor &battery)
 /*
   handle a SET_MODE MAVLink message
  */
-void GCS_MAVLINK::handle_set_mode(mavlink_message_t* msg, bool (*set_mode)(uint8_t mode))
+void GCS_MAVLINK::handle_set_mode(mavlink_message_t* msg, set_mode_fn set_mode)
 {
     uint8_t result = MAV_RESULT_FAILED;
     mavlink_set_mode_t packet;