ArduCopter: move initialisation of serial and gcs to AP_Vehicle

mohanbabi · Feb 25, 2020 · ae2578e · ae2578e
1 parent a6e1fce
commit ae2578e
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Showing 3 changed files with 7 additions and 11 deletions.
diff --git a/ArduCopter/GCS_Copter.cpp b/ArduCopter/GCS_Copter.cpp
@@ -2,6 +2,11 @@
 
 #include "Copter.h"
 
+uint8_t GCS_Copter::sysid_this_mav() const
+{
+    return copter.g.sysid_this_mav;
+}
+
 const char* GCS_Copter::frame_string() const
 {
     return copter.get_frame_string();

diff --git a/ArduCopter/GCS_Copter.h b/ArduCopter/GCS_Copter.h
@@ -39,6 +39,8 @@ class GCS_Copter : public GCS
 
 protected:
 
+    uint8_t sysid_this_mav() const override;
+
     // minimum amount of time (in microseconds) that must remain in
     // the main scheduler loop before we are allowed to send any
     // mavlink messages.  We want to prioritise the main flight

diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
@@ -21,17 +21,6 @@ void Copter::init_ardupilot()
     g2.stats.init();
 #endif
 
-    // identify ourselves correctly with the ground station
-    mavlink_system.sysid = g.sysid_this_mav;
-
-    // initialise serial ports
-    serial_manager.init();
-
-    // setup first port early to allow BoardConfig to report errors
-    gcs().setup_console();
-
-    register_scheduler_delay_callback();
-
     BoardConfig.init();
 #if HAL_WITH_UAVCAN
     BoardConfig_CAN.init();