Copter: move accept_packet to GCS_MAVLink base class

ArduCopter/GCS_Mavlink.cpp

@@ -244,6 +244,10 @@ uint8_t GCS_MAVLINK_Copter::sysid_my_gcs() const
 {
     return copter.g.sysid_my_gcs;
 }
+bool GCS_MAVLINK_Copter::sysid_enforce() const
+{
+    return copter.g2.sysid_enforce;
+}
 
 uint32_t GCS_MAVLINK_Copter::telem_delay() const
 {
@@ -1455,20 +1459,6 @@ void Copter::mavlink_delay_cb()
     DataFlash.EnableWrites(true);
 }
 
-/*
-  return true if we will accept this packet. Used to implement SYSID_ENFORCE
- */
-bool GCS_MAVLINK_Copter::accept_packet(const mavlink_status_t &status, mavlink_message_t &msg)
-{
-    if (!copter.g2.sysid_enforce) {
-        return true;
-    }
-    if (msg.msgid == MAVLINK_MSG_ID_RADIO || msg.msgid == MAVLINK_MSG_ID_RADIO_STATUS) {
-        return true;
-    }
-    return (msg.sysid == copter.g.sysid_my_gcs);
-}
-
 AP_AdvancedFailsafe *GCS_MAVLINK_Copter::get_advanced_failsafe() const
 {
 #if ADVANCED_FAILSAFE == ENABLED

ArduCopter/GCS_Mavlink.h

@@ -14,14 +14,13 @@ protected:
 
     uint32_t telem_delay() const override;
 
-    bool accept_packet(const mavlink_status_t &status, mavlink_message_t &msg) override;
-
     AP_Rally *get_rally() const override;
     MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet) override;
     AP_AdvancedFailsafe *get_advanced_failsafe() const override;
     AP_VisualOdom *get_visual_odom() const override;
 
     uint8_t sysid_my_gcs() const override;
+    bool sysid_enforce() const override;
 
     bool set_mode(uint8_t mode) override;