From 731aaed8afee260f493621ec80ef957f0f8a37a8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 8 Jul 2017 16:26:34 +1000
Subject: [PATCH] GCS_MAVLink: eliminate global static
 GCS_MAVLINK::send_home_all

---
 libraries/GCS_MAVLink/GCS.cpp        | 20 ++++++++++++++++++++
 libraries/GCS_MAVLink/GCS.h          |  3 ++-
 libraries/GCS_MAVLink/GCS_Common.cpp | 20 --------------------
 3 files changed, 22 insertions(+), 21 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.cpp b/libraries/GCS_MAVLink/GCS.cpp
index 469d362d47..6a347a9663 100644
--- a/libraries/GCS_MAVLink/GCS.cpp
+++ b/libraries/GCS_MAVLink/GCS.cpp
@@ -15,3 +15,23 @@ void GCS::send_text(MAV_SEVERITY severity, const char *fmt, ...)
     text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN] = 0;
     send_statustext(severity, GCS_MAVLINK::active_channel_mask() | GCS_MAVLINK::streaming_channel_mask(), text);
 }
+
+#define FOR_EACH_ACTIVE_CHANNEL(methodcall)          \
+    do {                                             \
+        for (uint8_t i=0; i<num_gcs(); i++) {        \
+            if (!chan(i).initialised) {              \
+                continue;                            \
+            }                                        \
+            if (!(GCS_MAVLINK::active_channel_mask() & (chan(i).get_chan()-MAVLINK_COMM_0))) { \
+                continue;                            \
+            }                                        \
+            chan(i).methodcall;                      \
+        }                                            \
+    } while (0);
+
+void GCS::send_home(const Location &home) const
+{
+    FOR_EACH_ACTIVE_CHANNEL(send_home(home));
+}
+
+#undef FOR_EACH_ACTIVE_CHANNEL
diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index fb0409afbd..901ca59e84 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -169,7 +169,6 @@ public:
     void send_local_position(const AP_AHRS &ahrs) const;
     void send_vibration(const AP_InertialSensor &ins) const;
     void send_home(const Location &home) const;
-    static void send_home_all(const Location &home);
     void send_heartbeat(uint8_t type, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status);
     void send_servo_output_raw(bool hil);
     static void send_collision_all(const AP_Avoidance::Obstacle &threat, MAV_COLLISION_ACTION behaviour);
@@ -435,10 +434,12 @@ public:
     virtual void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text);
     void service_statustext(void);
     virtual GCS_MAVLINK &chan(const uint8_t ofs) = 0;
+    virtual const GCS_MAVLINK &chan(const uint8_t ofs) const = 0;
     virtual uint8_t num_gcs() const = 0;
     void reset_cli_timeout();
     void send_message(enum ap_message id);
     void send_mission_item_reached_message(uint16_t mission_index);
+    void send_home(const Location &home) const;
     void data_stream_send();
     void update();
     virtual void setup_uarts(AP_SerialManager &serial_manager);
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 52dedec4dc..fd9abed930 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1517,26 +1517,6 @@ void GCS_MAVLINK::send_home(const Location &home) const
     }
 }
 
-void GCS_MAVLINK::send_home_all(const Location &home)
-{
-    const float q[4] = {1.0f, 0.0f, 0.0f, 0.0f};
-    for (uint8_t i=0; i<MAVLINK_COMM_NUM_BUFFERS; i++) {
-        if ((1U<<i) & mavlink_active) {
-            mavlink_channel_t chan = (mavlink_channel_t)(MAVLINK_COMM_0+i);
-            if (HAVE_PAYLOAD_SPACE(chan, HOME_POSITION)) {
-                mavlink_msg_home_position_send(
-                    chan,
-                    home.lat,
-                    home.lng,
-                    home.alt * 10,
-                    0.0f, 0.0f, 0.0f,
-                    q,
-                    0.0f, 0.0f, 0.0f);
-            }
-        }
-    }
-}
-
 /*
   wrapper for sending heartbeat
  */