AP_GPS: Replace hardcoded duplicated end_mavlink_gps*_rtk() function with a flexible one

libraries/AP_GPS/AP_GPS.cpp

@@ -926,17 +926,13 @@ void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
         rtk_age_ms(1));
 }
 
-void AP_GPS::send_mavlink_gps_rtk(mavlink_channel_t chan)
+void AP_GPS::send_mavlink_gps_rtk(mavlink_channel_t chan, uint8_t inst)
 {
-    if (drivers[0] != nullptr && drivers[0]->highest_supported_status() > AP_GPS::GPS_OK_FIX_3D) {
+    if (inst >= GPS_MAX_RECEIVERS) {
-        drivers[0]->send_mavlink_gps_rtk(chan);
+        return;
     }
-}
+    if (drivers[inst] != nullptr && drivers[inst]->highest_supported_status() > AP_GPS::GPS_OK_FIX_3D) {
-
+        drivers[inst]->send_mavlink_gps_rtk(chan);
-void AP_GPS::send_mavlink_gps2_rtk(mavlink_channel_t chan)
-{
-    if (drivers[1] != nullptr && drivers[1]->highest_supported_status() > AP_GPS::GPS_OK_FIX_3D) {
-        drivers[1]->send_mavlink_gps_rtk(chan);
     }
 }
 

libraries/AP_GPS/AP_GPS.h

@@ -363,8 +363,7 @@ public:
     void send_mavlink_gps_raw(mavlink_channel_t chan);
     void send_mavlink_gps2_raw(mavlink_channel_t chan);
 
-    void send_mavlink_gps_rtk(mavlink_channel_t chan);
+    void send_mavlink_gps_rtk(mavlink_channel_t chan, uint8_t inst);
-    void send_mavlink_gps2_rtk(mavlink_channel_t chan);
 
     // Returns the index of the first unconfigured GPS (returns GPS_ALL_CONFIGURED if all instances report as being configured)
     uint8_t first_unconfigured_gps(void) const;

libraries/AP_GPS/GPS_Backend.h

@@ -44,9 +44,7 @@ public:
     virtual void inject_data(const uint8_t *data, uint16_t len);
 
     //MAVLink methods
-    virtual void send_mavlink_gps_rtk(mavlink_channel_t chan) { return ; }
+    virtual void send_mavlink_gps_rtk(mavlink_channel_t chan);
-
-    virtual void send_mavlink_gps2_rtk(mavlink_channel_t chan) { return ; }
 
     virtual void broadcast_configuration_failure_reason(void) const { return ; }