Rover: removed common functions

APMrover2/GCS_Mavlink.pde

@@ -812,29 +812,6 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
 };
 
 
-void
-GCS_MAVLINK::init(AP_HAL::UARTDriver *port)
-{
-    GCS_Class::init(port);
-    if (port == (AP_HAL::BetterStream*)hal.uartA) {
-        mavlink_comm_0_port = port;
-        chan = MAVLINK_COMM_0;
-        initialised = true;
-    } else if (port == (AP_HAL::BetterStream*)hal.uartC) {
-        mavlink_comm_1_port = port;
-        chan = MAVLINK_COMM_1;
-        initialised = true;
-#if MAVLINK_COMM_NUM_BUFFERS > 2
-    } else if (port == (AP_HAL::BetterStream*)hal.uartD) {
-        mavlink_comm_2_port = port;
-        chan = MAVLINK_COMM_2;
-        initialised = true;
-#endif
-    }
-    _queued_parameter = NULL;
-    reset_cli_timeout();
-}
-
 void
 GCS_MAVLINK::update(void)
 {
@@ -1907,93 +1884,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
     } // end switch
 } // end handle mavlink
 
-uint16_t
-GCS_MAVLINK::_count_parameters()
-{
-    // if we haven't cached the parameter count yet...
-    if (0 == _parameter_count) {
-        AP_Param  *vp;
-        AP_Param::ParamToken token;
-
-        vp = AP_Param::first(&token, NULL);
-        do {
-            _parameter_count++;
-        } while (NULL != (vp = AP_Param::next_scalar(&token, NULL)));
-    }
-    return _parameter_count;
-}
-
-/**
-* @brief Send the next pending parameter, called from deferred message
-* handling code
-*/
-void
-GCS_MAVLINK::queued_param_send()
-{
-    if (!initialised || _queued_parameter == NULL) {
-        return;
-    }
-
-    uint16_t bytes_allowed;
-    uint8_t count;
-    uint32_t tnow = millis();
-
-    // use at most 30% of bandwidth on parameters. The constant 26 is
-    // 1/(1000 * 1/8 * 0.001 * 0.3)
-    bytes_allowed = g.serial1_baud * (tnow - _queued_parameter_send_time_ms) * 26;
-    if (bytes_allowed > comm_get_txspace(chan)) {
-        bytes_allowed = comm_get_txspace(chan);
-    }
-    count = bytes_allowed / (MAVLINK_MSG_ID_PARAM_VALUE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES);
-
-    while (_queued_parameter != NULL && count--) {
-    AP_Param      *vp;
-    float       value;
-
-    // copy the current parameter and prepare to move to the next
-    vp = _queued_parameter;
-
-    // if the parameter can be cast to float, report it here and break out of the loop
-    value = vp->cast_to_float(_queued_parameter_type);
-
-    char param_name[AP_MAX_NAME_SIZE];
-    vp->copy_name_token(_queued_parameter_token, param_name, sizeof(param_name), true);
-
-    mavlink_msg_param_value_send(
-        chan,
-        param_name,
-        value,
-        mav_var_type(_queued_parameter_type),
-        _queued_parameter_count,
-        _queued_parameter_index);
-
-    _queued_parameter = AP_Param::next_scalar(&_queued_parameter_token, &_queued_parameter_type);
-    _queued_parameter_index++;
-}
-    _queued_parameter_send_time_ms = tnow;
-}
-
-/**
-* @brief Send the next pending waypoint, called from deferred message
-* handling code
-*/
-void
-GCS_MAVLINK::queued_waypoint_send()
-{
-    if (initialised &&
-        waypoint_receiving &&
-        waypoint_request_i <= waypoint_request_last) {
-        mavlink_msg_mission_request_send(
-            chan,
-            waypoint_dest_sysid,
-            waypoint_dest_compid,
-            waypoint_request_i);
-    }
-}
-
-void GCS_MAVLINK::reset_cli_timeout() {
-      _cli_timeout = millis();
-}
 /*
  *  a delay() callback that processes MAVLink packets. We set this as the
  *  callback in long running library initialisation routines to allow