Copter: removed frsky_telemetry_send scheduled task

ArduCopter/ArduCopter.cpp

@@ -128,9 +128,6 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(accel_cal_update,      10,    100),
 #if ADSB_ENABLED == ENABLED
     SCHED_TASK(avoidance_adsb_update, 10,    100),
-#endif
-#if FRSKY_TELEM_ENABLED == ENABLED
-    SCHED_TASK(frsky_telemetry_send,   5,     75),
 #endif
     SCHED_TASK(terrain_update,        10,    100),
 #if EPM_ENABLED == ENABLED

ArduCopter/Copter.h

@@ -81,7 +81,6 @@
 #include <AP_Notify/AP_Notify.h>          // Notify library
 #include <AP_BattMonitor/AP_BattMonitor.h>     // Battery monitor library
 #include <AP_BoardConfig/AP_BoardConfig.h>     // board configuration library
-#include <AP_Frsky_Telem/AP_Frsky_Telem.h>
 #include <AP_LandingGear/AP_LandingGear.h>     // Landing Gear library
 #include <AP_Terrain/AP_Terrain.h>
 #include <AP_ADSB/AP_ADSB.h>
@@ -111,6 +110,9 @@
 #include <AC_PrecLand/AC_PrecLand.h>
 #include <AP_IRLock/AP_IRLock.h>
 #endif
+#if FRSKY_TELEM_ENABLED == ENABLED
+#include <AP_Frsky_Telem/AP_Frsky_Telem.h>
+#endif
 
 // Local modules
 #include "Parameters.h"
@@ -1034,7 +1036,6 @@ private:
     bool optflow_position_ok();
     void update_auto_armed();
     void check_usb_mux(void);
-    void frsky_telemetry_send(void);
     bool should_log(uint32_t mask);
     bool current_mode_has_user_takeoff(bool must_navigate);
     bool do_user_takeoff(float takeoff_alt_cm, bool must_navigate);

ArduCopter/system.cpp

@@ -152,8 +152,8 @@ void Copter::init_ardupilot()
     }
 
 #if FRSKY_TELEM_ENABLED == ENABLED
-    // setup frsky
-    frsky_telemetry.init(serial_manager);
+    // setup frsky, and pass a number of parameters to the library
+    frsky_telemetry.init(serial_manager, (uint8_t *)&control_mode);
 #endif
 
     // identify ourselves correctly with the ground station
@@ -426,15 +426,6 @@ void Copter::check_usb_mux(void)
     ap.usb_connected = usb_check;
 }
 
-// frsky_telemetry_send - sends telemetry data using frsky telemetry
-//  should be called at 5Hz by scheduler
-#if FRSKY_TELEM_ENABLED == ENABLED
-void Copter::frsky_telemetry_send(void)
-{
-    frsky_telemetry.send_frames((uint8_t)control_mode);
-}
-#endif
-
 /*
   should we log a message type now?
  */