GCS_MAVLink: always build with MAVLink2 headers

libraries/GCS_MAVLink/GCS.h

@@ -357,7 +357,6 @@ private:
     // return true if this channel has hardware flow control
     bool have_flow_control(void);
 
-#if MAVLINK_PROTOCOL_VERSION >= 2
     mavlink_signing_t signing;
     static mavlink_signing_streams_t signing_streams;
     static uint32_t last_signing_save_ms;
@@ -370,9 +369,4 @@ private:
     bool signing_enabled(void) const;
     uint8_t packet_overhead(void) const { return packet_overhead_chan(chan); }
     static void save_signing_timestamp(bool force_save_now);
-#else 
-    bool signing_enabled(void) const { return false; }
-    uint8_t packet_overhead(void) const { return MAVLINK_NUM_NON_PAYLOAD_BYTES; }
-    static void save_signing_timestamp(bool force_save_now) {}
-#endif // MAVLINK_PROTOCOL_VERSION
 };

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -101,7 +101,6 @@ GCS_MAVLINK::setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager
     // and init the gcs instance
     init(uart, mav_chan);
 
-#if MAVLINK_PROTOCOL_VERSION >= 2
     // load signing key
     load_signing_key();
 
@@ -113,7 +112,6 @@ GCS_MAVLINK::setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager
         // after experiments with MAVLink2
         status->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
     }    
-#endif
 }
 
 /**
@@ -940,7 +938,6 @@ GCS_MAVLINK::update(run_cli_fn run_cli)
             if (msg.msgid != MAVLINK_MSG_ID_RADIO && msg.msgid != MAVLINK_MSG_ID_RADIO_STATUS) {
                 mavlink_active |= (1U<<(chan-MAVLINK_COMM_0));
             }
-#if MAVLINK_PROTOCOL_VERSION >= 2
             if (!(status.flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) &&
                 (status.flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1)) {
                 // if we receive any MAVLink2 packets on a connection
@@ -951,7 +948,6 @@ GCS_MAVLINK::update(run_cli_fn run_cli)
                     cstatus->flags &= ~MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
                 }
             }
-#endif
             // if a snoop handler has been setup then use it
             if (msg_snoop != NULL) {
                 msg_snoop(&msg);

libraries/GCS_MAVLink/GCS_MAVLink.cpp

@@ -29,11 +29,7 @@ This provides some support code and variables for MAVLink enabled sketches
 
 
 #ifdef MAVLINK_SEPARATE_HELPERS
-#if MAVLINK_PROTOCOL_VERSION == 2
 #include "include/mavlink/v2.0/mavlink_helpers.h"
-#else
-#include "include/mavlink/v1.0/mavlink_helpers.h"
-#endif
 #endif
 
 AP_HAL::UARTDriver	*mavlink_comm_port[MAVLINK_COMM_NUM_BUFFERS];

libraries/GCS_MAVLink/GCS_MAVLink.h

@@ -24,19 +24,11 @@
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wcast-align"
 
-#if MAVLINK_PROTOCOL_VERSION == 2
 #include "include/mavlink/v2.0/ardupilotmega/version.h"
-#else
-#include "include/mavlink/v1.0/ardupilotmega/version.h"
-#endif
 
 #define MAVLINK_MAX_PAYLOAD_LEN 255
 
-#if MAVLINK_PROTOCOL_VERSION == 2
 #include "include/mavlink/v2.0/mavlink_types.h"
-#else
-#include "include/mavlink/v1.0/mavlink_types.h"
-#endif
 
 /// MAVLink stream used for uartA
 extern AP_HAL::UARTDriver	*mavlink_comm_port[MAVLINK_COMM_NUM_BUFFERS];
@@ -97,11 +89,7 @@ uint16_t comm_get_txspace(mavlink_channel_t chan);
 bool comm_is_idle(mavlink_channel_t chan);
 
 #define MAVLINK_USE_CONVENIENCE_FUNCTIONS
-#if MAVLINK_PROTOCOL_VERSION == 2
 #include "include/mavlink/v2.0/ardupilotmega/mavlink.h"
-#else
-#include "include/mavlink/v1.0/ardupilotmega/mavlink.h"
-#endif
 
 // return a MAVLink variable type given a AP_Param type
 uint8_t mav_var_type(enum ap_var_type t);

libraries/GCS_MAVLink/GCS_Signing.cpp

@@ -21,8 +21,6 @@
 
 extern const AP_HAL::HAL& hal;
 
-#if MAVLINK_PROTOCOL_VERSION >= 2
-
 // storage object
 StorageAccess GCS_MAVLINK::_signing_storage(StorageManager::StorageKeys);
 
@@ -243,11 +241,3 @@ uint8_t GCS_MAVLINK::packet_overhead_chan(mavlink_channel_t chan)
     return MAVLINK_NUM_NON_PAYLOAD_BYTES;
 }
 
-#else
-void GCS_MAVLINK::update_signing_timestamp(uint64_t timestamp_usec) {}
-
-uint8_t GCS_MAVLINK::packet_overhead_chan(mavlink_channel_t chan)
-{
-    return MAVLINK_NUM_NON_PAYLOAD_BYTES;
-}
-#endif // MAVLINK_PROTOCOL_VERSION