Copter: pass GCS_MAVLink object rather than channel number in motortest

ArduCopter/Copter.h

@@ -771,8 +771,8 @@ private:
 
     // motor_test.cpp
     void motor_test_output();
-    bool mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc);
-    MAV_RESULT mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq, uint8_t throttle_type, uint16_t throttle_value, float timeout_sec, uint8_t motor_count);
+    bool mavlink_motor_test_check(const GCS_MAVLINK &gcs_chan, bool check_rc);
+    MAV_RESULT mavlink_motor_test_start(const GCS_MAVLINK &gcs_chan, uint8_t motor_seq, uint8_t throttle_type, uint16_t throttle_value, float timeout_sec, uint8_t motor_count);
     void motor_test_stop();
 
     // motors.cpp

ArduCopter/GCS_Mavlink.cpp

@@ -711,7 +711,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
         // param4 : timeout (in seconds)
         // param5 : num_motors (in sequence)
         // param6 : compass learning (0: disabled, 1: enabled)
-        return copter.mavlink_motor_test_start(chan,
+        return copter.mavlink_motor_test_start(*this,
                                                (uint8_t)packet.param1,
                                                (uint8_t)packet.param2,
                                                (uint16_t)packet.param3,

ArduCopter/motor_test.cpp

@@ -94,10 +94,8 @@ void Copter::motor_test_output()
 
 // mavlink_motor_test_check - perform checks before motor tests can begin
 //  return true if tests can continue, false if not
-bool Copter::mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc)
+bool Copter::mavlink_motor_test_check(const GCS_MAVLINK &gcs_chan, bool check_rc)
 {
-    GCS_MAVLINK_Copter &gcs_chan = gcs().chan(chan-MAVLINK_COMM_0);
-
     // check board has initialised
     if (!ap.initialised) {
         gcs_chan.send_text(MAV_SEVERITY_CRITICAL,"Motor Test: Board initialising");
@@ -128,7 +126,7 @@ bool Copter::mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc)
 
 // mavlink_motor_test_start - start motor test - spin a single motor at a specified pwm
 //  returns MAV_RESULT_ACCEPTED on success, MAV_RESULT_FAILED on failure
-MAV_RESULT Copter::mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq, uint8_t throttle_type, uint16_t throttle_value,
+MAV_RESULT Copter::mavlink_motor_test_start(const GCS_MAVLINK &gcs_chan, uint8_t motor_seq, uint8_t throttle_type, uint16_t throttle_value,
                                          float timeout_sec, uint8_t motor_count)
 {
     if (motor_count == 0) {
@@ -142,7 +140,7 @@ MAV_RESULT Copter::mavlink_motor_test_start(mavlink_channel_t chan, uint8_t moto
            The RC calibrated check can be skipped if direct pwm is
            supplied
         */
-        if (!mavlink_motor_test_check(chan, throttle_type != 1)) {
+        if (!mavlink_motor_test_check(gcs_chan, throttle_type != 1)) {
             return MAV_RESULT_FAILED;
         } else {
             // start test