AP_Landing: eliminate GCS_MAVLINK::send_statustext_all

libraries/AP_Landing/AP_Landing.cpp

@@ -212,7 +212,7 @@ bool AP_Landing::verify_land(const Location &prev_WP_loc, Location &next_WP_loc,
     default:
         // returning TRUE while executing verify_land() will increment the
         // mission index which in many cases will trigger an RTL for end-of-mission
-        GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Landing configuration error, invalid LAND_TYPE");
+        gcs().send_text(MAV_SEVERITY_CRITICAL, "Landing configuration error, invalid LAND_TYPE");
         success = true;
         break;
     }
@@ -419,14 +419,14 @@ bool AP_Landing::restart_landing_sequence()
             mission.set_current_cmd(current_index+1))
     {
         // if the next immediate command is MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT to climb, do it
-        GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_NOTICE, "Restarted landing sequence. Climbing to %dm", cmd.content.location.alt/100);
+        gcs().send_text(MAV_SEVERITY_NOTICE, "Restarted landing sequence. Climbing to %dm", cmd.content.location.alt/100);
         success =  true;
     }
     else if (do_land_start_index != 0 &&
             mission.set_current_cmd(do_land_start_index))
     {
         // look for a DO_LAND_START and use that index
-        GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_NOTICE, "Restarted landing via DO_LAND_START: %d",do_land_start_index);
+        gcs().send_text(MAV_SEVERITY_NOTICE, "Restarted landing via DO_LAND_START: %d",do_land_start_index);
         success =  true;
     }
     else if (prev_cmd_with_wp_index != AP_MISSION_CMD_INDEX_NONE &&
@@ -434,10 +434,10 @@ bool AP_Landing::restart_landing_sequence()
     {
         // if a suitable navigation waypoint was just executed, one that contains lat/lng/alt, then
         // repeat that cmd to restart the landing from the top of approach to repeat intended glide slope
-        GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_NOTICE, "Restarted landing sequence at waypoint %d", prev_cmd_with_wp_index);
+        gcs().send_text(MAV_SEVERITY_NOTICE, "Restarted landing sequence at waypoint %d", prev_cmd_with_wp_index);
         success =  true;
     } else {
-        GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_WARNING, "Unable to restart landing sequence");
+        gcs().send_text(MAV_SEVERITY_WARNING, "Unable to restart landing sequence");
         success =  false;
     }
 

libraries/AP_Landing/AP_Landing_Deepstall.cpp

@@ -287,7 +287,7 @@ bool AP_Landing_Deepstall::override_servos(void)
 
     if (elevator == nullptr) {
         // deepstalls are impossible without these channels, abort the process
-        GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL,
+        gcs().send_text(MAV_SEVERITY_CRITICAL,
                                          "Deepstall: Unable to find the elevator channels");
         request_go_around();
         return false;
@@ -419,17 +419,17 @@ void AP_Landing_Deepstall::build_approach_path(void)
 
 #ifdef DEBUG_PRINTS
     // TODO: Send this information via a MAVLink packet
-    GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Arc: %3.8f %3.8f",
+    gcs().send_text(MAV_SEVERITY_INFO, "Arc: %3.8f %3.8f",
                                      (double)(arc.lat / 1e7),(double)( arc.lng / 1e7));
-    GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Loiter en: %3.8f %3.8f",
+    gcs().send_text(MAV_SEVERITY_INFO, "Loiter en: %3.8f %3.8f",
                                      (double)(arc_entry.lat / 1e7), (double)(arc_entry.lng / 1e7));
-    GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Loiter ex: %3.8f %3.8f",
+    gcs().send_text(MAV_SEVERITY_INFO, "Loiter ex: %3.8f %3.8f",
                                      (double)(arc_exit.lat / 1e7), (double)(arc_exit.lng / 1e7));
-    GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Extended: %3.8f %3.8f",
+    gcs().send_text(MAV_SEVERITY_INFO, "Extended: %3.8f %3.8f",
                                      (double)(extended_approach.lat / 1e7), (double)(extended_approach.lng / 1e7));
-    GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Extended by: %f (%f)", (double)approach_extension_m,
+    gcs().send_text(MAV_SEVERITY_INFO, "Extended by: %f (%f)", (double)approach_extension_m,
                                      (double)expected_travel_distance);
-    GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Target Heading: %3.1f", (double)target_heading_deg);
+    gcs().send_text(MAV_SEVERITY_INFO, "Target Heading: %3.1f", (double)target_heading_deg);
 #endif // DEBUG_PRINTS
 
 }
@@ -476,7 +476,7 @@ float AP_Landing_Deepstall::predict_travel_distance(const Vector3f wind, const f
 
     if(print) {
         // allow printing the travel distances on the final entry as its used for tuning
-        GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Deepstall: Entry: %0.1f (m) Travel: %0.1f (m)",
+        gcs().send_text(MAV_SEVERITY_INFO, "Deepstall: Entry: %0.1f (m) Travel: %0.1f (m)",
                                          (double)stall_distance, (double)predicted_travel_distance);
     }
 
@@ -506,7 +506,7 @@ float AP_Landing_Deepstall::update_steering()
         // panic if no position source is available
         // continue the  but target just holding the wings held level as deepstall should be a minimal energy
         // configuration on the aircraft, and if a position isn't available aborting would be worse
-        GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Deepstall: No position available. Attempting to hold level");
+        gcs().send_text(MAV_SEVERITY_CRITICAL, "Deepstall: No position available. Attempting to hold level");
         memcpy(&current_loc, &landing_point, sizeof(Location));
     }
     uint32_t time = AP_HAL::millis();
@@ -536,7 +536,7 @@ float AP_Landing_Deepstall::update_steering()
                                           -yaw_rate_limit_rps, yaw_rate_limit_rps) - yaw_rate);
 
 #ifdef DEBUG_PRINTS
-    GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "x: %f e: %f r: %f d: %f",
+    gcs().send_text(MAV_SEVERITY_INFO, "x: %f e: %f r: %f d: %f",
                                     (double)crosstrack_error,
                                     (double)error,
                                     (double)degrees(yaw_rate),

libraries/AP_Landing/AP_Landing_Slope.cpp

@@ -30,7 +30,7 @@ void AP_Landing::type_slope_do_land(const AP_Mission::Mission_Command& cmd, cons
     type_slope_flags.post_stats = false;
 
     type_slope_stage = SLOPE_STAGE_NORMAL;
-    GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Landing approach start at %.1fm", (double)relative_altitude);
+    gcs().send_text(MAV_SEVERITY_INFO, "Landing approach start at %.1fm", (double)relative_altitude);
 }
 
 void AP_Landing::type_slope_verify_abort_landing(const Location &prev_WP_loc, Location &next_WP_loc, bool &throttle_suppressed)
@@ -96,9 +96,9 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
         if (type_slope_stage != SLOPE_STAGE_FINAL) {
             type_slope_flags.post_stats = true;
             if (is_flying && (AP_HAL::millis()-last_flying_ms) > 3000) {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Flare crash detected: speed=%.1f", (double)ahrs.get_gps().ground_speed());
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "Flare crash detected: speed=%.1f", (double)ahrs.get_gps().ground_speed());
             } else {
-                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Flare %.1fm sink=%.2f speed=%.1f dist=%.1f",
+                gcs().send_text(MAV_SEVERITY_INFO, "Flare %.1fm sink=%.2f speed=%.1f dist=%.1f",
                                   (double)height, (double)sink_rate,
                                   (double)ahrs.get_gps().ground_speed(),
                                   (double)get_distance(current_loc, next_WP_loc));
@@ -139,7 +139,7 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
     // this is done before disarm_if_autoland_complete() so that it happens on the next loop after the disarm
     if (type_slope_flags.post_stats && !is_armed) {
         type_slope_flags.post_stats = false;
-        GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Distance from LAND point=%.2fm", (double)get_distance(current_loc, next_WP_loc));
+        gcs().send_text(MAV_SEVERITY_INFO, "Distance from LAND point=%.2fm", (double)get_distance(current_loc, next_WP_loc));
     }
 
     // check if we should auto-disarm after a confirmed landing
@@ -196,7 +196,7 @@ void AP_Landing::type_slope_adjust_landing_slope_for_rangefinder_bump(AP_Vehicle
 
         // is projected slope too steep?
         if (new_slope_deg - initial_slope_deg > slope_recalc_steep_threshold_to_abort) {
-            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Landing slope too steep, aborting (%.0fm %.1fdeg)",
+            gcs().send_text(MAV_SEVERITY_INFO, "Landing slope too steep, aborting (%.0fm %.1fdeg)",
                                              (double)rangefinder_state.correction, (double)(new_slope_deg - initial_slope_deg));
             alt_offset = rangefinder_state.correction;
             flags.commanded_go_around = true;
@@ -265,7 +265,7 @@ void AP_Landing::type_slope_setup_landing_glide_slope(const Location &prev_WP_lo
     bool is_first_calc = is_zero(slope);
     slope = (sink_height - aim_height) / total_distance;
     if (is_first_calc) {
-        GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Landing glide slope %.1f degrees", (double)degrees(atanf(slope)));
+        gcs().send_text(MAV_SEVERITY_INFO, "Landing glide slope %.1f degrees", (double)degrees(atanf(slope)));
     }