Plane: use setup_uart()

ArduPlane/system.pde

@@ -116,16 +116,10 @@ static void init_ardupilot()
     check_usb_mux();
 
     // we have a 2nd serial port for telemetry
-    hal.uartC->begin(map_baudrate(g.serial1_baud, SERIAL1_BAUD),
+    gcs[1].setup_uart(hal.uartC, map_baudrate(g.serial1_baud, SERIAL1_BAUD), 128, SERIAL1_BUFSIZE);
-                     128, SERIAL1_BUFSIZE);
-    gcs[1].init(hal.uartC);
 
 #if MAVLINK_COMM_NUM_BUFFERS > 2
-    if (hal.uartD != NULL) {
+    gcs[2].setup_uart(hal.uartD, map_baudrate(g.serial2_baud, SERIAL2_BAUD), 128, SERIAL2_BUFSIZE);
-        hal.uartD->begin(map_baudrate(g.serial2_baud, SERIAL2_BAUD),
-                         128, SERIAL2_BUFSIZE);        
-        gcs[2].init(hal.uartD);
-    }
 #endif
 
     mavlink_system.sysid = g.sysid_this_mav;