Sub: move gcs_out_of_time into GCS object

ArduSub/GCS_Mavlink.cpp

@@ -482,7 +482,7 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
     // wants to fire then don't send a mavlink message. We want to
     // prioritise the main flight control loop over communications
     if (sub.scheduler.time_available_usec() < 250 && sub.motors.armed()) {
-        sub.gcs_out_of_time = true;
+        gcs().set_out_of_time(true);
         return false;
     }
 
@@ -744,11 +744,11 @@ GCS_MAVLINK_Sub::data_stream_send(void)
         sub.DataFlash.handle_log_send(*this);
     }
 
-    sub.gcs_out_of_time = false;
+    gcs().set_out_of_time(false);
 
     send_queued_parameters();
 
-    if (sub.gcs_out_of_time) {
+    if (gcs().out_of_time()) {
         return;
     }
 
@@ -763,7 +763,7 @@ GCS_MAVLINK_Sub::data_stream_send(void)
         send_message(MSG_RAW_IMU3);
     }
 
-    if (sub.gcs_out_of_time) {
+    if (gcs().out_of_time()) {
         return;
     }
 
@@ -780,7 +780,7 @@ GCS_MAVLINK_Sub::data_stream_send(void)
         send_message(MSG_NAMED_FLOAT);
     }
 
-    if (sub.gcs_out_of_time) {
+    if (gcs().out_of_time()) {
         return;
     }
 
@@ -789,14 +789,14 @@ GCS_MAVLINK_Sub::data_stream_send(void)
         send_message(MSG_LOCAL_POSITION);
     }
 
-    if (sub.gcs_out_of_time) {
+    if (gcs().out_of_time()) {
         return;
     }
 
     if (stream_trigger(STREAM_RAW_CONTROLLER)) {
     }
 
-    if (sub.gcs_out_of_time) {
+    if (gcs().out_of_time()) {
         return;
     }
 
@@ -805,7 +805,7 @@ GCS_MAVLINK_Sub::data_stream_send(void)
         send_message(MSG_RADIO_IN);
     }
 
-    if (sub.gcs_out_of_time) {
+    if (gcs().out_of_time()) {
         return;
     }
 
@@ -815,7 +815,7 @@ GCS_MAVLINK_Sub::data_stream_send(void)
         send_message(MSG_PID_TUNING);
     }
 
-    if (sub.gcs_out_of_time) {
+    if (gcs().out_of_time()) {
         return;
     }
 
@@ -823,7 +823,7 @@ GCS_MAVLINK_Sub::data_stream_send(void)
         send_message(MSG_VFR_HUD);
     }
 
-    if (sub.gcs_out_of_time) {
+    if (gcs().out_of_time()) {
         return;
     }
 
@@ -849,7 +849,7 @@ GCS_MAVLINK_Sub::data_stream_send(void)
 #endif
     }
 
-    if (sub.gcs_out_of_time) {
+    if (gcs().out_of_time()) {
         return;
     }
 }

ArduSub/Sub.cpp

@@ -77,7 +77,6 @@ Sub::Sub(void) :
           terrain(ahrs, mission, rally),
 #endif
           in_mavlink_delay(false),
-          gcs_out_of_time(false),
           param_loader(var_info),
           last_pilot_yaw_input_ms(0)
 {

ArduSub/Sub.h

@@ -451,9 +451,6 @@ private:
     // use this to prevent recursion during sensor init
     bool in_mavlink_delay;
 
-    // true if we are out of time in our event timeslice
-    bool gcs_out_of_time;
-
     // Top-level logic
     // setup the var_info table
     AP_Param param_loader;