Plane: FrSky support has moved to GCS

ArduPlane/GCS_Mavlink.cpp

@@ -2,7 +2,7 @@
 
 #include "Plane.h"
 
-MAV_TYPE GCS_MAVLINK_Plane::frame_type() const
+MAV_TYPE GCS_Plane::frame_type() const
 {
     return plane.quadplane.get_mav_type();
 }
@@ -87,7 +87,7 @@ MAV_MODE GCS_MAVLINK_Plane::base_mode() const
     return (MAV_MODE)_base_mode;
 }
 
-uint32_t GCS_MAVLINK_Plane::custom_mode() const
+uint32_t GCS_Plane::custom_mode() const
 {
     return plane.control_mode;
 }

ArduPlane/GCS_Mavlink.h

@@ -55,9 +55,7 @@ private:
     bool try_send_message(enum ap_message id) override;
     void packetReceived(const mavlink_status_t &status, mavlink_message_t &msg) override;
 
-    MAV_TYPE frame_type() const override;
     MAV_MODE base_mode() const override;
-    uint32_t custom_mode() const override;
     MAV_STATE system_status() const override;
 
     uint8_t radio_in_rssi() const;

ArduPlane/GCS_Plane.cpp

@@ -218,9 +218,4 @@ void GCS_Plane::update_sensor_status_flags(void)
     if (!plane.battery.healthy() || plane.battery.has_failsafed()) {
         control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
     }
-
-#if FRSKY_TELEM_ENABLED == ENABLED
-    // give mask of error flags to Frsky_Telemetry
-    plane.frsky_telemetry.update_sensor_status_flags(~control_sensors_health & control_sensors_enabled & control_sensors_present);
-#endif
 }

ArduPlane/GCS_Plane.h

@@ -23,6 +23,8 @@ public:
 protected:
 
     void update_sensor_status_flags(void) override;
+    uint32_t custom_mode() const override;
+    MAV_TYPE frame_type() const override;
 
 private:
 

ArduPlane/Plane.h

@@ -405,10 +405,6 @@ private:
                            FUNCTOR_BIND_MEMBER(&Plane::handle_battery_failsafe, void, const char*, const int8_t),
                            _failsafe_priorities};
 
-#if FRSKY_TELEM_ENABLED == ENABLED
-    // FrSky telemetry support
-    AP_Frsky_Telem frsky_telemetry;
-#endif
 #if DEVO_TELEM_ENABLED == ENABLED
     // DEVO-M telemetry support
     AP_DEVO_Telem devo_telemetry;

ArduPlane/is_flying.cpp

@@ -155,9 +155,6 @@ void Plane::update_is_flying_5Hz(void)
     }
     previous_is_flying = new_is_flying;
     adsb.set_is_flying(new_is_flying);
-#if FRSKY_TELEM_ENABLED == ENABLED
-    frsky_telemetry.set_is_flying(new_is_flying);
-#endif
 #if STATS_ENABLED == ENABLED
     g2.stats.set_flying(new_is_flying);
 #endif

ArduPlane/quadplane.h

@@ -138,7 +138,9 @@ public:
         int16_t  climb_rate;
         float    throttle_mix;
     };
-        
+
+    MAV_TYPE get_mav_type(void) const;
+
 private:
     AP_AHRS_NavEKF &ahrs;
     AP_Vehicle::MultiCopter aparm;
@@ -296,7 +298,6 @@ private:
 
     // HEARTBEAT mav_type override
     AP_Int8 mav_type;
-    MAV_TYPE get_mav_type(void) const;
     
     // time we last got an EKF yaw reset
     uint32_t ekfYawReset_ms;

ArduPlane/system.cpp

@@ -96,11 +96,6 @@ void Plane::init_ardupilot()
     // setup telem slots with serial ports
     gcs().setup_uarts(serial_manager);
 
-    // setup frsky
-#if FRSKY_TELEM_ENABLED == ENABLED
-    // setup frsky, and pass a number of parameters to the library
-    frsky_telemetry.init(MAV_TYPE_FIXED_WING);
-#endif
 #if DEVO_TELEM_ENABLED == ENABLED
     devo_telemetry.init();
 #endif
@@ -308,9 +303,6 @@ void Plane::set_mode(enum FlightMode mode, mode_reason_t reason)
     previous_mode_reason = control_mode_reason;
     control_mode_reason = reason;
 
-#if FRSKY_TELEM_ENABLED == ENABLED
-    frsky_telemetry.update_control_mode(control_mode);
-#endif
 #if DEVO_TELEM_ENABLED == ENABLED
     devo_telemetry.update_control_mode(control_mode);
 #endif