AntennaTracker: cleanup unnecessarily complex gcs[] usage

AntennaTracker/GCS_Mavlink.cpp

@@ -168,7 +168,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
     switch (id) {
     case MSG_HEARTBEAT:
         CHECK_PAYLOAD_SIZE(HEARTBEAT);
-        tracker.gcs[chan-MAVLINK_COMM_0].last_heartbeat_time = AP_HAL::millis();
+        last_heartbeat_time = AP_HAL::millis();
         tracker.send_heartbeat(chan);
         return true;
 
@@ -194,12 +194,12 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
 
     case MSG_GPS_RAW:
         CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
-        tracker.gcs[chan-MAVLINK_COMM_0].send_gps_raw(tracker.gps);
+        send_gps_raw(tracker.gps);
         break;
 
     case MSG_RADIO_IN:
         CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW);
-        tracker.gcs[chan-MAVLINK_COMM_0].send_radio_in(0);
+        send_radio_in(0);
         break;
 
     case MSG_RADIO_OUT:
@@ -209,22 +209,22 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
 
     case MSG_RAW_IMU1:
         CHECK_PAYLOAD_SIZE(RAW_IMU);
-        tracker.gcs[chan-MAVLINK_COMM_0].send_raw_imu(tracker.ins, tracker.compass);
+        send_raw_imu(tracker.ins, tracker.compass);
         break;
 
     case MSG_RAW_IMU2:
         CHECK_PAYLOAD_SIZE(SCALED_PRESSURE);
-        tracker.gcs[chan-MAVLINK_COMM_0].send_scaled_pressure(tracker.barometer);
+        send_scaled_pressure(tracker.barometer);
         break;
 
     case MSG_RAW_IMU3:
         CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
-        tracker.gcs[chan-MAVLINK_COMM_0].send_sensor_offsets(tracker.ins, tracker.compass, tracker.barometer);
+        send_sensor_offsets(tracker.ins, tracker.compass, tracker.barometer);
         break;
 
     case MSG_NEXT_PARAM:
         CHECK_PAYLOAD_SIZE(PARAM_VALUE);
-        tracker.gcs[chan-MAVLINK_COMM_0].queued_param_send();
+        queued_param_send();
         break;
 
     case MSG_NEXT_WAYPOINT:
@@ -238,7 +238,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
 
     case MSG_AHRS:
         CHECK_PAYLOAD_SIZE(AHRS);
-        tracker.gcs[chan-MAVLINK_COMM_0].send_ahrs(tracker.ahrs);
+        send_ahrs(tracker.ahrs);
         break;
 
     case MSG_SIMSTATE:
@@ -695,7 +695,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
             case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
                 if (is_equal(packet.param1,1.0f)) {
-                    tracker.gcs[chan-MAVLINK_COMM_0].send_autopilot_version(FIRMWARE_VERSION);
+                    send_autopilot_version(FIRMWARE_VERSION);
                     result = MAV_RESULT_ACCEPTED;
                 }
                 break;
@@ -883,7 +883,7 @@ mission_failed:
         break;
 
     case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
-        tracker.gcs[chan-MAVLINK_COMM_0].send_autopilot_version(FIRMWARE_VERSION);
+        send_autopilot_version(FIRMWARE_VERSION);
         break;
 
     } // end switch