Plane: Support for a GCS singleton

ArduPlane/GCS_Mavlink.cpp

@@ -2178,7 +2178,7 @@ void Plane::gcs_update(void)
 
 void Plane::gcs_send_text(MAV_SEVERITY severity, const char *str)
 {
-    GCS_MAVLINK::send_statustext(severity, 0xFF, str);
+    gcs().send_statustext(severity, 0xFF, str);
     notify.send_text(str);
 }
 
@@ -2194,7 +2194,7 @@ void Plane::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
     va_start(arg_list, fmt);
     hal.util->vsnprintf((char *)str, sizeof(str), fmt, arg_list);
     va_end(arg_list);
-    GCS_MAVLINK::send_statustext(severity, 0xFF, str);
+    gcs().send_statustext(severity, 0xFF, str);
     notify.send_text(str);
 }
 
@@ -2218,7 +2218,7 @@ void Plane::gcs_send_airspeed_calibration(const Vector3f &vg)
 void Plane::gcs_retry_deferred(void)
 {
     gcs_send_message(MSG_RETRY_DEFERRED);
-    GCS_MAVLINK::service_statustext();
+    gcs().service_statustext();
 }
 
 /*

ArduPlane/Plane.h

@@ -252,6 +252,8 @@ private:
     AP_SerialManager serial_manager;
     const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
     GCS_MAVLINK_Plane gcs_chan[MAVLINK_COMM_NUM_BUFFERS];
+    GCS _gcs; // avoid using this; use gcs()
+    GCS &gcs() { return _gcs; }
 
     // selected navigation controller
     AP_Navigation *nav_controller = &L1_controller;

ArduPlane/system.cpp

@@ -116,7 +116,7 @@ void Plane::init_ardupilot()
     }
 #endif
 
-    GCS_MAVLINK::set_dataflash(&DataFlash);
+    gcs().set_dataflash(&DataFlash);
 
     mavlink_system.sysid = g.sysid_this_mav;