Tracker: use send_text method on the GCS singleton

AntennaTracker/GCS_Mavlink.cpp

@@ -868,7 +868,7 @@ void Tracker::mavlink_delay_cb()
     }
     if (tnow - last_5s > 5000) {
         last_5s = tnow;
-        gcs_send_text(MAV_SEVERITY_INFO, "Initialising APM");
+        gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM");
     }
     DataFlash.EnableWrites(true);
     tracker.in_mavlink_delay = false;
@@ -898,26 +898,6 @@ void Tracker::gcs_update(void)
     gcs().update();
 }
 
-void Tracker::gcs_send_text(MAV_SEVERITY severity, const char *str)
-{
-    gcs().send_statustext(severity, 0xFF, str);
-}
-
-/*
- *  send a low priority formatted message to the GCS
- *  only one fits in the queue, so if you send more than one before the
- *  last one gets into the serial buffer then the old one will be lost
- */
-void Tracker::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
-{
-    char str[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN] {};
-    va_list arg_list;
-    va_start(arg_list, fmt);
-    hal.util->vsnprintf((char *)str, sizeof(str), fmt, arg_list);
-    va_end(arg_list);
-    gcs().send_statustext(severity, 0xFF, str);
-}
-
 /**
    retry any deferred messages
  */

AntennaTracker/Tracker.h

@@ -207,7 +207,6 @@ private:
     void gcs_send_message(enum ap_message id);
     void gcs_data_stream_send(void);
     void gcs_update(void);
-    void gcs_send_text(MAV_SEVERITY severity, const char *str);
     void gcs_retry_deferred(void);
     void load_parameters(void);
     void update_auto(void);
@@ -255,7 +254,6 @@ private:
     void tracking_update_pressure(const mavlink_scaled_pressure_t &msg);
     void tracking_manual_control(const mavlink_manual_control_t &msg);
     void update_armed_disarmed();
-    void gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...);
     void init_capabilities(void);
     void compass_cal_update();
     void Log_Write_Attitude();

AntennaTracker/sensors.cpp

@@ -2,13 +2,13 @@
 
 void Tracker::init_barometer(bool full_calibration)
 {
-    gcs_send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
+    gcs().send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
     if (full_calibration) {
         barometer.calibrate();
     } else {
         barometer.update_calibration();
     }
-    gcs_send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
+    gcs().send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
 }
 
 // read the barometer and return the updated altitude in meters

AntennaTracker/system.cpp

@@ -98,7 +98,7 @@ void Tracker::init_tracker()
         current_loc.lat = g.start_latitude * 1.0e7f;
         current_loc.lng = g.start_longitude * 1.0e7f;
     } else {
-        gcs_send_text(MAV_SEVERITY_NOTICE, "Ignoring invalid START_LATITUDE or START_LONGITUDE parameter");
+        gcs().send_text(MAV_SEVERITY_NOTICE, "Ignoring invalid START_LATITUDE or START_LONGITUDE parameter");
     }
 
     // see if EEPROM has a default location as well
@@ -108,7 +108,7 @@ void Tracker::init_tracker()
 
     init_capabilities();
 
-    gcs_send_text(MAV_SEVERITY_INFO,"Ready to track");
+    gcs().send_text(MAV_SEVERITY_INFO,"Ready to track");
     hal.scheduler->delay(1000); // Why????
 
     set_mode(AUTO); // tracking