Copter: let AP_Vehicle base class worry about scheduler delay callback

ArduCopter/Copter.h

@@ -976,7 +976,6 @@ private:
     void exit_mode(Mode *&old_flightmode, Mode *&new_flightmode);
 
 public:
-    void mavlink_delay_cb();    // GCS_Mavlink.cpp
     void failsafe_check();      // failsafe.cpp
 };
 

ArduCopter/GCS_Mavlink.cpp

@@ -1246,32 +1246,6 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
  *  MAVLink to process packets while waiting for the initialisation to
  *  complete
  */
-void Copter::mavlink_delay_cb()
-{
-    static uint32_t last_1hz, last_50hz, last_5s;
-
-    logger.EnableWrites(false);
-
-    uint32_t tnow = millis();
-    if (tnow - last_1hz > 1000) {
-        last_1hz = tnow;
-        gcs().send_message(MSG_HEARTBEAT);
-        gcs().send_message(MSG_SYS_STATUS);
-    }
-    if (tnow - last_50hz > 20) {
-        last_50hz = tnow;
-        gcs().update_receive();
-        gcs().update_send();
-        notify.update();
-    }
-    if (tnow - last_5s > 5000) {
-        last_5s = tnow;
-        gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM");
-    }
-
-    logger.EnableWrites(true);
-}
-
 MAV_RESULT GCS_MAVLINK_Copter::handle_flight_termination(const mavlink_command_long_t &packet) {
     MAV_RESULT result = MAV_RESULT_FAILED;
 

ArduCopter/system.cpp

@@ -8,12 +8,6 @@
 *
 *****************************************************************************/
 
-static void mavlink_delay_cb_static()
-{
-    copter.mavlink_delay_cb();
-}
-
-
 static void failsafe_check_static()
 {
     copter.failsafe_check();
@@ -50,10 +44,8 @@ void Copter::init_ardupilot()
     // setup first port early to allow BoardConfig to report errors
     gcs().setup_console();
 
-    // Register mavlink_delay_cb, which will run anytime you have
-    // more than 5ms remaining in your call to hal.scheduler->delay
-    hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
-    
+    register_scheduler_delay_callback();
+
     BoardConfig.init();
 #if HAL_WITH_UAVCAN
     BoardConfig_CAN.init();