Copter: Change gcs().send_text to GCS_SEND_TEXT

ArduCopter/events.cpp

@@ -84,15 +84,15 @@ void Copter::failsafe_radio_off_event()
  // no need to do anything except log the error as resolved
  // user can now override roll, pitch, yaw and throttle and even use flight mode switch to restore previous flight mode
  LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_RADIO, LogErrorCode::FAILSAFE_RESOLVED);
- gcs().send_text(MAV_SEVERITY_WARNING, "Radio Failsafe Cleared");
+ GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Radio Failsafe Cleared");
 }
 
 void Copter::announce_failsafe(const char *type, const char *action_undertaken)
 {
  if (action_undertaken != nullptr) {
- gcs().send_text(MAV_SEVERITY_WARNING, "%s Failsafe - %s", type, action_undertaken);
+ GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "%s Failsafe - %s", type, action_undertaken);
  } else {
- gcs().send_text(MAV_SEVERITY_WARNING, "%s Failsafe", type);
+ GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "%s Failsafe", type);
  }
 }
 
@@ -235,7 +235,7 @@ void Copter::failsafe_gcs_on_event(void)
 // failsafe_gcs_off_event - actions to take when GCS contact is restored
 void Copter::failsafe_gcs_off_event(void)
 {
- gcs().send_text(MAV_SEVERITY_WARNING, "GCS Failsafe Cleared");
+ GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "GCS Failsafe Cleared");
  LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_GCS, LogErrorCode::FAILSAFE_RESOLVED);
 }
 
@@ -281,7 +281,7 @@ void Copter::failsafe_terrain_set_status(bool data_ok)
 void Copter::failsafe_terrain_on_event()
 {
  failsafe.terrain = true;
- gcs().send_text(MAV_SEVERITY_CRITICAL,"Failsafe: Terrain data missing");
+ GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL,"Failsafe: Terrain data missing");
  LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_TERRAIN, LogErrorCode::FAILSAFE_OCCURRED);
 
  if (should_disarm_on_failsafe()) {
@@ -307,10 +307,10 @@ void Copter::gpsglitch_check()
  ap.gps_glitching = gps_glitching;
  if (gps_glitching) {
  LOGGER_WRITE_ERROR(LogErrorSubsystem::GPS, LogErrorCode::GPS_GLITCH);
- gcs().send_text(MAV_SEVERITY_CRITICAL,"GPS Glitch or Compass error");
+ GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL,"GPS Glitch or Compass error");
  } else {
  LOGGER_WRITE_ERROR(LogErrorSubsystem::GPS, LogErrorCode::ERROR_RESOLVED);
- gcs().send_text(MAV_SEVERITY_CRITICAL,"Glitch cleared");
+ GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL,"Glitch cleared");
  }
  }
 }
@@ -330,11 +330,11 @@ void Copter::failsafe_deadreckon_check()
  dead_reckoning.active = ekf_dead_reckoning;
  if (dead_reckoning.active) {
  dead_reckoning.start_ms = now_ms;
- gcs().send_text(MAV_SEVERITY_CRITICAL,"%s started", dr_prefix_str);
+ GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL,"%s started", dr_prefix_str);
  } else {
  dead_reckoning.start_ms = 0;
  dead_reckoning.timeout = false;
- gcs().send_text(MAV_SEVERITY_CRITICAL,"%s stopped", dr_prefix_str);
+ GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL,"%s stopped", dr_prefix_str);
  }
  }
 
@@ -343,7 +343,7 @@ void Copter::failsafe_deadreckon_check()
  const uint32_t dr_timeout_ms = uint32_t(constrain_float(g2.failsafe_dr_timeout * 1000.0f, 0.0f, UINT32_MAX));
  if (now_ms - dead_reckoning.start_ms > dr_timeout_ms) {
  dead_reckoning.timeout = true;
- gcs().send_text(MAV_SEVERITY_CRITICAL,"%s timeout", dr_prefix_str);
+ GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL,"%s timeout", dr_prefix_str);
  }
  }