APMRover: integrate Serial Manager instance

APMrover2/system.pde

@@ -103,7 +103,7 @@ static void init_ardupilot()
     barometer.init();
 
 	// init the GCS
-    gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console);
+    gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console, 0);
 
     // we start by assuming USB connected, as we initialed the serial
     // port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.    
@@ -111,11 +111,11 @@ static void init_ardupilot()
     check_usb_mux();
 
     // setup serial port for telem1
-    gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink1);
+    gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
 
 #if MAVLINK_COMM_NUM_BUFFERS > 2
     // setup serial port for telem2
-    gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink2);
+    gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 1);
 #endif
 
     // setup frsky telemetry
@@ -426,7 +426,7 @@ static void check_usb_mux(void)
     if (usb_connected) {
         serial_manager.set_console_baud(AP_SerialManager::SerialProtocol_Console);
     } else {
-        serial_manager.set_console_baud(AP_SerialManager::SerialProtocol_MAVLink1);
+        serial_manager.set_console_baud(AP_SerialManager::SerialProtocol_MAVLink, 0);
     }
 #endif
 }