AP_AdvancedFailsafe: move handling of last-seen-SYSID_MYGCS up to GCS base class

libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp

@@ -164,7 +164,7 @@ const AP_Param::GroupInfo AP_AdvancedFailsafe::var_info[] = {
 // check for Failsafe conditions. This is called at 10Hz by the main
 // ArduPlane code
 void
-AP_AdvancedFailsafe::check(uint32_t last_heartbeat_ms, bool geofence_breached, uint32_t last_valid_rc_ms)
+AP_AdvancedFailsafe::check(bool geofence_breached, uint32_t last_valid_rc_ms)
 {    
     if (!_enable) {
         return;
@@ -203,6 +203,7 @@ AP_AdvancedFailsafe::check(uint32_t last_heartbeat_ms, bool geofence_breached, u
         hal.gpio->write(_manual_pin, mode==AFS_MANUAL);
     }
 
+    const uint32_t last_heartbeat_ms = gcs().sysid_myggcs_last_seen_time_ms();
     uint32_t now = AP_HAL::millis();
     bool gcs_link_ok = ((now - last_heartbeat_ms) < 10000);
     bool gps_lock_ok = ((now - AP::gps().last_fix_time_ms()) < 3000);

libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h

@@ -75,7 +75,7 @@ public:
     bool enabled() { return _enable; }
 
     // check that everything is OK
-    void check(uint32_t last_heartbeat_ms, bool geofence_breached, uint32_t last_valid_rc_ms);
+    void check(bool geofence_breached, uint32_t last_valid_rc_ms);
 
     // generate heartbeat msgs, so external failsafe boards are happy
     // during sensor calibration