GCS_MAVLink: use AP_ServoRelayEvents singleton

huimengyoux · Apr 18, 2018 · 682679c · 682679c
1 parent 544ac03
commit 682679c
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Showing 4 changed files with 1 addition and 4 deletions.
diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
@@ -231,7 +231,6 @@ class GCS_MAVLINK
     virtual AP_Rally *get_rally() const = 0;
     virtual Compass *get_compass() const = 0;
     virtual class AP_Camera *get_camera() const = 0;
-    virtual AP_ServoRelayEvents *get_servorelayevents() const = 0;
     virtual AP_AdvancedFailsafe *get_advanced_failsafe() const { return nullptr; };
     virtual AP_VisualOdom *get_visual_odom() const { return nullptr; }
     virtual bool set_mode(uint8_t mode) = 0;

diff --git a/libraries/GCS_MAVLink/GCS_Dummy.h b/libraries/GCS_MAVLink/GCS_Dummy.h
@@ -27,7 +27,6 @@ class GCS_MAVLINK_Dummy : public GCS_MAVLINK
     AP_Mission *get_mission() override { return nullptr; }
     AP_Rally *get_rally() const override { return nullptr; };
     AP_Camera *get_camera() const override { return nullptr; };
-    AP_ServoRelayEvents *get_servorelayevents() const override { return nullptr; }
     const AP_FWVersion &get_fwver() const override { return fwver; }
     void set_ekf_origin(const Location& loc) override { };
 

diff --git a/libraries/GCS_MAVLink/GCS_ServoRelay.cpp b/libraries/GCS_MAVLink/GCS_ServoRelay.cpp
@@ -4,7 +4,7 @@
 
 MAV_RESULT GCS_MAVLINK::handle_servorelay_message(mavlink_command_long_t &packet)
 {
-    AP_ServoRelayEvents *handler = get_servorelayevents();
+    AP_ServoRelayEvents *handler = AP::servorelayevents();
     if (handler == nullptr) {
         return MAV_RESULT_UNSUPPORTED;
     }

diff --git a/libraries/GCS_MAVLink/examples/routing/routing.cpp b/libraries/GCS_MAVLink/examples/routing/routing.cpp
@@ -34,7 +34,6 @@ class GCS_MAVLINK_routing : public GCS_MAVLINK
     Compass *get_compass() const override { return nullptr; };
     AP_Mission *get_mission() override { return nullptr; }
     AP_Rally *get_rally() const override { return nullptr; }
-    AP_ServoRelayEvents *get_servorelayevents() const override { return nullptr; }
     AP_Camera *get_camera() const override { return nullptr; };
     uint8_t sysid_my_gcs() const override { return 1; }
     bool set_mode(uint8_t mode) override { return false; };