Sub: Remove cliSerial alias for hal.console

ArduSub/ArduSub.cpp

@@ -81,8 +81,6 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
 
 void Sub::setup()
 {
-    cliSerial = hal.console;
-
     // Load the default values of variables listed in var_info[]s
     AP_Param::setup_sketch_defaults();
 

ArduSub/Parameters.cpp

@@ -754,7 +754,7 @@ ParametersG2::ParametersG2(void)
 void Sub::load_parameters(void)
 {
     if (!AP_Param::check_var_info()) {
-        cliSerial->printf("Bad var table\n");
+        hal.console->printf("Bad var table\n");
         AP_HAL::panic("Bad var table");
     }
 
@@ -766,18 +766,18 @@ void Sub::load_parameters(void)
             g.format_version != Parameters::k_format_version) {
 
         // erase all parameters
-        cliSerial->printf("Firmware change: erasing EEPROM...\n");
+        hal.console->printf("Firmware change: erasing EEPROM...\n");
         AP_Param::erase_all();
 
         // save the current format version
         g.format_version.set_and_save(Parameters::k_format_version);
-        cliSerial->println("done.");
+        hal.console->println("done.");
     }
 
     uint32_t before = micros();
     // Load all auto-loaded EEPROM variables
     AP_Param::load_all();
-    cliSerial->printf("load_all took %uus\n", (unsigned)(micros() - before));
+    hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 
     AP_Param::set_frame_type_flags(AP_PARAM_FRAME_SUB);
 

ArduSub/Sub.h

@@ -135,11 +135,6 @@ private:
     // key aircraft parameters passed to multiple libraries
     AP_Vehicle::MultiCopter aparm;
 
-
-    // cliSerial isn't strictly necessary - it is an alias for hal.console. It may
-    // be deprecated in favor of hal.console in later releases.
-    AP_HAL::BetterStream* cliSerial;
-
     // Global parameters are all contained within the 'g' class.
     Parameters g;
     ParametersG2 g2;

ArduSub/sensors.cpp

@@ -95,7 +95,7 @@ void Sub::init_compass()
 {
     if (!compass.init() || !compass.read()) {
         // make sure we don't pass a broken compass to DCM
-        cliSerial->println("COMPASS INIT ERROR");
+        hal.console->println("COMPASS INIT ERROR");
         Log_Write_Error(ERROR_SUBSYSTEM_COMPASS,ERROR_CODE_FAILED_TO_INITIALISE);
         return;
     }

ArduSub/system.cpp

@@ -23,7 +23,7 @@ void Sub::init_ardupilot()
     // initialise serial port
     serial_manager.init_console();
 
-    cliSerial->printf("\n\nInit " FIRMWARE_STRING
+    hal.console->printf("\n\nInit " FIRMWARE_STRING
                       "\n\nFree RAM: %u\n",
                       (unsigned)hal.util->available_memory());
 
@@ -190,7 +190,7 @@ void Sub::init_ardupilot()
     // init vehicle capabilties
     init_capabilities();
 
-    cliSerial->print("\nReady to FLY ");
+    hal.console->print("\nInit complete");
 
     // flag that initialisation has completed
     ap.initialised = true;