Frsky_Telem: use SerialManager for init

libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp

@@ -23,15 +23,21 @@
 #include <AP_Frsky_Telem.h>
 extern const AP_HAL::HAL& hal;
 
-void AP_Frsky_Telem::init(AP_HAL::UARTDriver *port, enum FrSkyProtocol protocol)
+void AP_Frsky_Telem::init(const AP_SerialManager& serial_manager)
 {
-    if (port == NULL) {
-        return;
+    // initialise port to null
+    _port = NULL;
+
+    // check for FRSky_DPort
+    AP_SerialManager::serial_state frsky_serial;
+    if (serial_manager.find_serial(AP_SerialManager::SerialProtocol_FRSky_DPort, frsky_serial)) {
+        _port = frsky_serial.uart;
+        _protocol = FrSkyDPORT;
     }
-    _port = port;    
-    _protocol = protocol;
-    if (_protocol == FrSkySPORT) {
-        _port->begin(57600);
+    // check for FRSky_SPort
+    if (serial_manager.find_serial(AP_SerialManager::SerialProtocol_FRSky_SPort, frsky_serial)) {
+        _port = frsky_serial.uart;
+        _protocol = FrSkySPORT;
         _gps_call = 0;
         _fas_call = 0;
         _vario_call = 0 ;
@@ -43,10 +49,10 @@ void AP_Frsky_Telem::init(AP_HAL::UARTDriver *port, enum FrSkyProtocol protocol)
         _sats_data_ready = false;
         _sport_status = 0;
         hal.scheduler->register_io_process(AP_HAL_MEMBERPROC(&AP_Frsky_Telem::sport_tick));
-    } else {
-        // if this is D-port then spec says 9600 baud
-        _port->begin(9600);
-        _initialised = true;    
+    }
+    // initialise port ignoring serial ports baud rate parameter
+    if (_port != NULL) {
+        _initialised = true;
     }
 }
 
@@ -459,6 +465,7 @@ void AP_Frsky_Telem::send_hub_frame()
 */
 void AP_Frsky_Telem::send_frames(uint8_t control_mode)
 {
+    // return immediately if not initialised
     if (!_initialised) {
         return;
     }

libraries/AP_Frsky_Telem/AP_Frsky_Telem.h

@@ -24,6 +24,7 @@
 #include <AP_AHRS.h>
 #include <AP_Baro.h>
 #include <AP_BattMonitor.h>
+#include <AP_SerialManager.h>
 
 /* FrSky sensor hub data IDs */
 #define FRSKY_ID_GPS_ALT_BP     0x01
@@ -77,18 +78,21 @@ class AP_Frsky_Telem
 public:
     //constructor
     AP_Frsky_Telem(AP_AHRS &ahrs, AP_BattMonitor &battery) :
+    _port(NULL),
+    _protocol(FrSkyUnknown),
 	_initialised(false),
-	_ahrs(ahrs),
-	_battery(battery)
+    _ahrs(ahrs),
+    _battery(battery)
     {}
 
     // these enums must match up with TELEM2_PROTOCOL in vehicle code
     enum FrSkyProtocol {
+        FrSkyUnknown = 0,
         FrSkyDPORT = 2,
         FrSkySPORT = 3
     };
 
-    void init(AP_HAL::UARTDriver *port, enum FrSkyProtocol protocol);
+    void init(const AP_SerialManager& serial_manager);
     void send_frames(uint8_t control_mode);