Copter: move telemetry_delayed up into base class

ArduCopter/Copter.h

@@ -649,7 +649,6 @@ private:
     void send_rpm(mavlink_channel_t chan);
     void rpm_update();
     void send_pid_tuning(mavlink_channel_t chan);
-    bool telemetry_delayed(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);

ArduCopter/GCS_Mavlink.cpp

@@ -499,27 +499,15 @@ void Copter::send_pid_tuning(mavlink_channel_t chan)
     }
 }
 
-// are we still delaying telemetry to try to avoid Xbee bricking?
-bool Copter::telemetry_delayed(mavlink_channel_t chan)
+uint32_t GCS_MAVLINK_Copter::telem_delay() const
 {
-    uint32_t tnow = millis() >> 10;
-    if (tnow > (uint32_t)g.telem_delay) {
-        return false;
-    }
-    if (chan == MAVLINK_COMM_0 && hal.gpio->usb_connected()) {
-        // this is USB telemetry, so won't be an Xbee
-        return false;
-    }
-    // we're either on the 2nd UART, or no USB cable is connected
-    // we need to delay telemetry by the TELEM_DELAY time
-    return true;
+    return (uint32_t)(copter.g.telem_delay);
 }
 
-
 // try to send a message, return false if it won't fit in the serial tx buffer
 bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
 {
-    if (copter.telemetry_delayed(chan)) {
+    if (telemetry_delayed(chan)) {
         return false;
     }
 

ArduCopter/GCS_Mavlink.h

@@ -11,6 +11,8 @@ public:
 
 protected:
 
+    uint32_t telem_delay() const override;
+
 private:
 
     void handleMessage(mavlink_message_t * msg) override;