Sub: remove pointless wrappers around gcs functions

ArduSub/ArduSub.cpp

@@ -38,10 +38,10 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_Baro,             &sub.barometer,    accumulate,          50,  90),
     SCHED_TASK_CLASS(AP_Notify,           &sub.notify,       update,              50,  90),
     SCHED_TASK(one_hz_loop,            1,    100),
-    SCHED_TASK(gcs_update,           400,    180),
+    SCHED_TASK_CLASS(GCS,                 (GCS*)&sub._gcs,   update,             400, 180),
     SCHED_TASK(gcs_send_heartbeat,     1,    110),
-    SCHED_TASK(gcs_send_deferred,     50,    550),
-    SCHED_TASK(gcs_data_stream_send,  50,    550),
+    SCHED_TASK_CLASS(GCS,                 (GCS*)&sub._gcs,   retry_deferred,      50, 550),
+    SCHED_TASK_CLASS(GCS,                 (GCS*)&sub._gcs,   data_stream_send,    50, 550),
 #if MOUNT == ENABLED
     SCHED_TASK_CLASS(AP_Mount,            &sub.camera_mount, update,              50,  75),
 #endif

ArduSub/GCS_Mavlink.cpp

@@ -10,11 +10,6 @@ void Sub::gcs_send_heartbeat()
     gcs().send_message(MSG_HEARTBEAT);
 }
 
-void Sub::gcs_send_deferred()
-{
-    gcs().retry_deferred();
-}
-
 /*
  *  !!NOTE!!
  *
@@ -1145,9 +1140,9 @@ void Sub::mavlink_delay_cb()
     }
     if (tnow - last_50hz > 20) {
         last_50hz = tnow;
-        gcs_update();
-        gcs_data_stream_send();
-        gcs_send_deferred();
+        gcs().update();
+        gcs().data_stream_send();
+        gcs().retry_deferred();
         notify.update();
     }
     if (tnow - last_5s > 5000) {
@@ -1158,22 +1153,6 @@ void Sub::mavlink_delay_cb()
     DataFlash.EnableWrites(true);
 }
 
-/*
- *  send data streams in the given rate range on both links
- */
-void Sub::gcs_data_stream_send()
-{
-    gcs().data_stream_send();
-}
-
-/*
- *  look for incoming commands on the GCS links
- */
-void Sub::gcs_update()
-{
-    gcs().update();
-}
-
 AP_Mission *GCS_MAVLINK_Sub::get_mission()
 {
     return &sub.mission;

ArduSub/Sub.h

@@ -474,7 +474,6 @@ private:
     void update_poscon_alt_max();
     void rotate_body_frame_to_NE(float &x, float &y);
     void gcs_send_heartbeat(void);
-    void gcs_send_deferred(void);
     void send_heartbeat(mavlink_channel_t chan);
     void send_extended_status1(mavlink_channel_t chan);
     void send_nav_controller_output(mavlink_channel_t chan);
@@ -483,8 +482,6 @@ private:
     void rpm_update();
 #endif
     void send_pid_tuning(mavlink_channel_t chan);
-    void gcs_data_stream_send(void);
-    void gcs_update(void);
     void Log_Write_Control_Tuning();
     void Log_Write_Performance();
     void Log_Write_Attitude();