Rover: rename gcs[] to gcs_chan[]

Wish to use gcs() to return the gcs singleton

APMrover2/GCS_Mavlink.cpp

@@ -63,7 +63,7 @@ void Rover::send_heartbeat(mavlink_channel_t chan)
     // indicate we have set a custom mode
     base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
 
-    gcs[chan-MAVLINK_COMM_0].send_heartbeat(MAV_TYPE_GROUND_ROVER,
+    gcs_chan[chan-MAVLINK_COMM_0].send_heartbeat(MAV_TYPE_GROUND_ROVER,
                                             base_mode,
                                             custom_mode,
                                             system_status);
@@ -1485,7 +1485,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
 void Rover::mavlink_delay_cb()
 {
     static uint32_t last_1hz, last_50hz, last_5s;
-    if (!gcs[0].initialised || in_mavlink_delay) {
+    if (!gcs_chan[0].initialised || in_mavlink_delay) {
         return;
     }
 
@@ -1518,8 +1518,8 @@ void Rover::mavlink_delay_cb()
 void Rover::gcs_send_message(enum ap_message id)
 {
     for (uint8_t i=0; i < num_gcs; i++) {
-        if (gcs[i].initialised) {
-            gcs[i].send_message(id);
+        if (gcs_chan[i].initialised) {
+            gcs_chan[i].send_message(id);
         }
     }
 }
@@ -1530,9 +1530,9 @@ void Rover::gcs_send_message(enum ap_message id)
 void Rover::gcs_send_mission_item_reached_message(uint16_t mission_index)
 {
     for (uint8_t i=0; i < num_gcs; i++) {
-        if (gcs[i].initialised) {
-            gcs[i].mission_item_reached_index = mission_index;
-            gcs[i].send_message(MSG_MISSION_ITEM_REACHED);
+        if (gcs_chan[i].initialised) {
+            gcs_chan[i].mission_item_reached_index = mission_index;
+            gcs_chan[i].send_message(MSG_MISSION_ITEM_REACHED);
         }
     }
 }
@@ -1543,8 +1543,8 @@ void Rover::gcs_send_mission_item_reached_message(uint16_t mission_index)
 void Rover::gcs_data_stream_send(void)
 {
     for (uint8_t i=0; i < num_gcs; i++) {
-        if (gcs[i].initialised) {
-            gcs[i].data_stream_send();
+        if (gcs_chan[i].initialised) {
+            gcs_chan[i].data_stream_send();
         }
     }
 }
@@ -1555,11 +1555,11 @@ void Rover::gcs_data_stream_send(void)
 void Rover::gcs_update(void)
 {
     for (uint8_t i=0; i < num_gcs; i++) {
-        if (gcs[i].initialised) {
+        if (gcs_chan[i].initialised) {
 #if CLI_ENABLED == ENABLED
-            gcs[i].update(g.cli_enabled == 1 ? FUNCTOR_BIND_MEMBER(&Rover::run_cli, void, AP_HAL::UARTDriver *) : nullptr);
+            gcs_chan[i].update(g.cli_enabled == 1 ? FUNCTOR_BIND_MEMBER(&Rover::run_cli, void, AP_HAL::UARTDriver *) : nullptr);
 #else
-            gcs[i].update(nullptr);
+            gcs_chan[i].update(nullptr);
 #endif
         }
     }

APMrover2/Log.cpp

@@ -469,7 +469,7 @@ void Rover::log_init(void)
         DataFlash.Prep();
         gcs_send_text(MAV_SEVERITY_INFO, "Prepared log system");
         for (uint8_t i=0; i < num_gcs; i++) {
-            gcs[i].reset_cli_timeout();
+            gcs_chan[i].reset_cli_timeout();
         }
     }
 

APMrover2/Parameters.cpp

@@ -408,19 +408,19 @@ const AP_Param::Info Rover::var_info[] = {
 
     // @Group: SR0_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(gcs[0], gcs0,        "SR0_",     GCS_MAVLINK),
+    GOBJECTN(gcs_chan[0], gcs0,        "SR0_",     GCS_MAVLINK),
 
     // @Group: SR1_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(gcs[1],  gcs1,       "SR1_",     GCS_MAVLINK),
+    GOBJECTN(gcs_chan[1],  gcs1,       "SR1_",     GCS_MAVLINK),
 
     // @Group: SR2_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(gcs[2],  gcs2,       "SR2_",     GCS_MAVLINK),
+    GOBJECTN(gcs_chan[2],  gcs2,       "SR2_",     GCS_MAVLINK),
 
     // @Group: SR3_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(gcs[3],  gcs3,       "SR3_",     GCS_MAVLINK),
+    GOBJECTN(gcs_chan[3],  gcs3,       "SR3_",     GCS_MAVLINK),
 
     // @Group: SERIAL
     // @Path: ../libraries/AP_SerialManager/AP_SerialManager.cpp

APMrover2/Rover.h

@@ -185,7 +185,7 @@ private:
     // GCS handling
     AP_SerialManager serial_manager;
     const uint8_t num_gcs;
-    GCS_MAVLINK_Rover gcs[MAVLINK_COMM_NUM_BUFFERS];
+    GCS_MAVLINK_Rover gcs_chan[MAVLINK_COMM_NUM_BUFFERS];
 
     // relay support
     AP_Relay relay;

APMrover2/system.cpp

@@ -100,7 +100,7 @@ void Rover::init_ardupilot()
     serial_manager.init();
 
     // setup first port early to allow BoardConfig to report errors
-    gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
+    gcs_chan[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
 
     // Register mavlink_delay_cb, which will run anytime you have
     // more than 5ms remaining in your call to hal.scheduler->delay
@@ -133,7 +133,7 @@ void Rover::init_ardupilot()
 
     // setup telem slots with serial ports
     for (uint8_t i = 1; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
-        gcs[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
+        gcs_chan[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
     }
 
     // setup frsky telemetry
@@ -193,11 +193,11 @@ void Rover::init_ardupilot()
     if (g.cli_enabled == 1) {
         const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
         cliSerial->printf("%s\n", msg);
-        if (gcs[1].initialised && (gcs[1].get_uart() != nullptr)) {
-            gcs[1].get_uart()->printf("%s\n", msg);
+        if (gcs_chan[1].initialised && (gcs_chan[1].get_uart() != nullptr)) {
+            gcs_chan[1].get_uart()->printf("%s\n", msg);
         }
-        if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != nullptr)) {
-            gcs[2].get_uart()->printf("%s\n", msg);
+        if (num_gcs > 2 && gcs_chan[2].initialised && (gcs_chan[2].get_uart() != nullptr)) {
+            gcs_chan[2].get_uart()->printf("%s\n", msg);
         }
     }
 #endif