From 94aa6c4cfb922cd0a09bcbb4ef03b5a37d68b01b Mon Sep 17 00:00:00 2001
From: floaledm <flomartel@gmail.com>
Date: Thu, 22 Sep 2016 13:54:24 -0500
Subject: [PATCH] AP_Frsky_Telem: consolidate into a single frsky.init()

---
 libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp | 63 ++++-----------------
 libraries/AP_Frsky_Telem/AP_Frsky_Telem.h   |  2 -
 2 files changed, 11 insertions(+), 54 deletions(-)

diff --git a/libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp b/libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
index aa8c502435..7bece6af89 100644
--- a/libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
+++ b/libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
@@ -32,7 +32,6 @@ AP_Frsky_Telem::AP_Frsky_Telem(AP_AHRS &ahrs, const AP_BattMonitor &battery, con
 
 /*
  * init - perform required initialisation
- * for Copter
  */
 void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *firmware_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah, uint32_t *ap_value)
 {
@@ -47,9 +46,17 @@ void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *fi
         queue_message(MAV_SEVERITY_INFO, firmware_str);
         // save main parameters locally
         _params.mav_type = mav_type; // frame type (see MAV_TYPE in Mavlink definition file common.h)
-        _params.fs_batt_voltage = fs_batt_voltage; // failsafe battery voltage in volts
-        _params.fs_batt_mah = fs_batt_mah; // failsafe reserve capacity in mAh
-        _ap.value = ap_value; // ap bit-field
+        if (fs_batt_voltage != nullptr) {
+            _params.fs_batt_voltage = fs_batt_voltage; // failsafe battery voltage in volts
+        }
+        if (fs_batt_mah != nullptr) {
+            _params.fs_batt_mah = fs_batt_mah; // failsafe reserve capacity in mAh
+        }
+        if (ap_value != nullptr) {
+            _ap.value = ap_value; // ap bit-field
+        } else {
+            *_ap.value = 0;
+        }
     }
     
     if (_port != NULL) {
@@ -59,54 +66,6 @@ void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *fi
     }
 }
 
-/*
- * init - perform required initialisation
- * for Plane
- */
-void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *firmware_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah)
-{
-    // check for protocol configured for a serial port - only the first serial port with one of these protocols will then run (cannot have FrSky on multiple serial ports)
-    if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_D, 0))) {
-        _protocol = AP_SerialManager::SerialProtocol_FrSky_D; // FrSky D protocol (D-receivers)
-    } else if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_SPort, 0))) {
-        _protocol = AP_SerialManager::SerialProtocol_FrSky_SPort; // FrSky SPort protocol (X-receivers)
-    } else if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_SPort_Passthrough, 0))) {
-        _protocol = AP_SerialManager::SerialProtocol_FrSky_SPort_Passthrough; // FrSky SPort and SPort Passthrough (OpenTX) protocols (X-receivers)
-        // add firmware and frame info to message queue
-        queue_message(MAV_SEVERITY_INFO, firmware_str);
-        // save main parameters locally
-        _params.mav_type = mav_type; // frame type (see MAV_TYPE in Mavlink definition file common.h)
-        _params.fs_batt_voltage = fs_batt_voltage; // failsafe battery voltage in volts
-        _params.fs_batt_mah = fs_batt_mah; // failsafe reserve capacity in mAh
-        *_ap.value = 0; // ap bit-field
-    }
-
-    if (_port != NULL) {
-        hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&AP_Frsky_Telem::tick, void));
-        // we don't want flow control for either protocol
-        _port->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
-    }
-}
-
-/*
- * init - perform required initialisation
- * for Rover
- */
-void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager)
-{
-    // check for protocol configured for a serial port - only the first serial port with one of these protocols will then run (cannot have FrSky on multiple serial ports)
-    if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_D, 0))) {
-        _protocol = AP_SerialManager::SerialProtocol_FrSky_D; // FrSky D protocol (D-receivers)
-    } else if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_SPort, 0))) {
-        _protocol = AP_SerialManager::SerialProtocol_FrSky_SPort; // FrSky SPort protocol (X-receivers)
-    }
-
-    if (_port != NULL) {
-        hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&AP_Frsky_Telem::tick, void));
-        // we don't want flow control for either protocol
-        _port->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
-    }
-}
 
 /*
  * send telemetry data
diff --git a/libraries/AP_Frsky_Telem/AP_Frsky_Telem.h b/libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
index 85ccfdcdb1..82999f186b 100644
--- a/libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
+++ b/libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
@@ -118,8 +118,6 @@ public:
 
     // init - perform required initialisation
     void init(const AP_SerialManager &serial_manager, const char *firmware_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah, uint32_t *ap_value);
-    void init(const AP_SerialManager &serial_manager, const char *firmware_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah);
-    void init(const AP_SerialManager &serial_manager);
 
     // add statustext message to FrSky lib queue.
     void queue_message(MAV_SEVERITY severity, const char *text);