Sub: avoid allocate a GCS_MAVLINK per mavlink channel

ArduSub/GCS_Mavlink.cpp

@@ -240,7 +240,7 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
 }
 
 
-const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
+const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
     // @Param: RAW_SENS
     // @DisplayName: Raw sensor stream rate
     // @Description: Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station
@@ -248,7 +248,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
     // @Range: 0 10
     // @Increment: 1
     // @User: Advanced
-    AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRates[STREAM_RAW_SENSORS],  0),
+    AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_RAW_SENSORS],  0),
 
     // @Param: EXT_STAT
     // @DisplayName: Extended status stream rate to ground station
@@ -257,7 +257,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
     // @Range: 0 10
     // @Increment: 1
     // @User: Advanced
-    AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRates[STREAM_EXTENDED_STATUS],  0),
+    AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_EXTENDED_STATUS],  0),
 
     // @Param: RC_CHAN
     // @DisplayName: RC Channel stream rate to ground station
@@ -266,7 +266,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
     // @Range: 0 10
     // @Increment: 1
     // @User: Advanced
-    AP_GROUPINFO("RC_CHAN",  2, GCS_MAVLINK, streamRates[STREAM_RC_CHANNELS],  0),
+    AP_GROUPINFO("RC_CHAN",  2, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_RC_CHANNELS],  0),
 
     // @Param: POSITION
     // @DisplayName: Position stream rate to ground station
@@ -275,7 +275,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
     // @Range: 0 10
     // @Increment: 1
     // @User: Advanced
-    AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRates[STREAM_POSITION],  0),
+    AP_GROUPINFO("POSITION", 4, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_POSITION],  0),
 
     // @Param: EXTRA1
     // @DisplayName: Extra data type 1 stream rate to ground station
@@ -284,7 +284,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
     // @Range: 0 10
     // @Increment: 1
     // @User: Advanced
-    AP_GROUPINFO("EXTRA1",   5, GCS_MAVLINK, streamRates[STREAM_EXTRA1],  0),
+    AP_GROUPINFO("EXTRA1",   5, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_EXTRA1],  0),
 
     // @Param: EXTRA2
     // @DisplayName: Extra data type 2 stream rate to ground station
@@ -293,7 +293,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
     // @Range: 0 10
     // @Increment: 1
     // @User: Advanced
-    AP_GROUPINFO("EXTRA2",   6, GCS_MAVLINK, streamRates[STREAM_EXTRA2],  0),
+    AP_GROUPINFO("EXTRA2",   6, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_EXTRA2],  0),
 
     // @Param: EXTRA3
     // @DisplayName: Extra data type 3 stream rate to ground station
@@ -302,7 +302,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
     // @Range: 0 10
     // @Increment: 1
     // @User: Advanced
-    AP_GROUPINFO("EXTRA3",   7, GCS_MAVLINK, streamRates[STREAM_EXTRA3],  0),
+    AP_GROUPINFO("EXTRA3",   7, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_EXTRA3],  0),
 
     // @Param: PARAMS
     // @DisplayName: Parameter stream rate to ground station
@@ -311,7 +311,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
     // @Range: 0 10
     // @Increment: 1
     // @User: Advanced
-    AP_GROUPINFO("PARAMS",   8, GCS_MAVLINK, streamRates[STREAM_PARAMS],  0),
+    AP_GROUPINFO("PARAMS",   8, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_PARAMS],  0),
     AP_GROUPEND
 };
 
@@ -794,9 +794,6 @@ void GCS_MAVLINK_Sub::handle_rc_channels_override(const mavlink_message_t &msg)
 void Sub::mavlink_delay_cb()
 {
     static uint32_t last_1hz, last_50hz, last_5s;
-    if (!gcs().chan(0).initialised) {
-        return;
-    }
 
     logger.EnableWrites(false);
 

ArduSub/GCS_Mavlink.h

@@ -6,6 +6,8 @@ class GCS_MAVLINK_Sub : public GCS_MAVLINK {
 
 public:
 
+    using GCS_MAVLINK::GCS_MAVLINK;
+
 protected:
 
     uint32_t telem_delay() const override {

ArduSub/GCS_Sub.h

@@ -9,24 +9,21 @@ class GCS_Sub : public GCS
 
 public:
 
-    // return the number of valid GCS objects
-    uint8_t num_gcs() const override { return ARRAY_SIZE(_chan); };
-
     // return GCS link at offset ofs
-    GCS_MAVLINK_Sub &chan(uint8_t ofs) override {
-        if (ofs >= num_gcs()) {
+    GCS_MAVLINK_Sub *chan(const uint8_t ofs) override {
+        if (ofs > _num_gcs) {
             AP::internalerror().error(AP_InternalError::error_t::gcs_offset);
-            ofs = 0;
+            return nullptr;
         }
-        return _chan[ofs];
-    };
-    const GCS_MAVLINK_Sub &chan(uint8_t ofs) const override {
-        if (ofs >= num_gcs()) {
+        return (GCS_MAVLINK_Sub*)_chan[ofs];
+    }
+    const GCS_MAVLINK_Sub *chan(const uint8_t ofs) const override {
+        if (ofs > _num_gcs) {
             AP::internalerror().error(AP_InternalError::error_t::gcs_offset);
-            ofs = 0;
+            return nullptr;
         }
-        return _chan[ofs];
-    };
+        return (GCS_MAVLINK_Sub*)_chan[ofs];
+    }
 
     void update_vehicle_sensor_status_flags() override;
 
@@ -45,8 +42,9 @@ protected:
         return 250;
     }
 
-private:
-
-    GCS_MAVLINK_Sub _chan[MAVLINK_COMM_NUM_BUFFERS];
+    GCS_MAVLINK_Sub *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters &params,
+                                             AP_HAL::UARTDriver &uart) override {
+        return new GCS_MAVLINK_Sub(params, uart);
+    }
 
 };

ArduSub/Parameters.cpp

@@ -450,19 +450,19 @@ const AP_Param::Info Sub::var_info[] = {
 
     // @Group: SR0_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(_gcs._chan[0],  gcs0,       "SR0_",     GCS_MAVLINK),
+    GOBJECTN(_gcs.chan_parameters[0],  gcs0,       "SR0_",     GCS_MAVLINK_Parameters),
 
     // @Group: SR1_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(_gcs._chan[1],  gcs1,       "SR1_",     GCS_MAVLINK),
+    GOBJECTN(_gcs.chan_parameters[1],  gcs1,       "SR1_",     GCS_MAVLINK_Parameters),
 
     // @Group: SR2_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(_gcs._chan[2],  gcs2,       "SR2_",     GCS_MAVLINK),
+    GOBJECTN(_gcs.chan_parameters[2],  gcs2,       "SR2_",     GCS_MAVLINK_Parameters),
 
     // @Group: SR3_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(_gcs._chan[3],  gcs3,       "SR3_",     GCS_MAVLINK),
+    GOBJECTN(_gcs.chan_parameters[3],  gcs3,       "SR3_",     GCS_MAVLINK_Parameters),
 
     // @Group: AHRS_
     // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp

ArduSub/system.cpp

@@ -56,7 +56,7 @@ void Sub::init_ardupilot()
     serial_manager.init();
 
     // setup first port early to allow BoardConfig to report errors
-    gcs().chan(0).setup_uart(0);
+    gcs().setup_console();
 
     // init cargo gripper
 #if GRIPPER_ENABLED == ENABLED