ArduCopter: SYSID_MYGCS and enforce move up to GCS, change to MAV_MYGCS_ENFRCE

ArduCopter/GCS_MAVLink_Copter.cpp

@@ -313,15 +313,6 @@ void GCS_MAVLINK_Copter::send_winch_status() const
 }
 #endif
 
-uint8_t GCS_MAVLINK_Copter::sysid_my_gcs() const
-{
-    return copter.g.sysid_my_gcs;
-}
-bool GCS_MAVLINK_Copter::sysid_enforce() const
-{
-    return copter.g2.sysid_enforce;
-}
-
 uint32_t GCS_MAVLINK_Copter::telem_delay() const
 {
     return (uint32_t)(copter.g.telem_delay);

ArduCopter/GCS_MAVLink_Copter.h

@@ -21,9 +21,6 @@ protected:
 
     MAV_RESULT handle_flight_termination(const mavlink_command_int_t &packet) override;
 
-    uint8_t sysid_my_gcs() const override;
-    bool sysid_enforce() const override;
-
     bool params_ready() const override;
     void send_banner() override;
 

ArduCopter/Parameters.cpp

@@ -39,13 +39,7 @@ const AP_Param::Info Copter::var_info[] = {
 
     // SYSID_THISMAV was here
 
-    // @Param: SYSID_MYGCS
-    // @DisplayName: My ground station number
-    // @Description: Allows restricting radio overrides to only come from my ground station
-    // @Range: 1 255
-    // @Increment: 1
-    // @User: Advanced
-    GSCALAR(sysid_my_gcs,   "SYSID_MYGCS",     255),
+    // SYSID_MYGCS was here
 
     // @Param: PILOT_THR_FILT
     // @DisplayName: Throttle filter cutoff
@@ -771,12 +765,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_GROUPINFO("ACRO_THR_MID", 10, ParametersG2, acro_thr_mid, ACRO_THR_MID_DEFAULT),
 #endif
 
-    // @Param: SYSID_ENFORCE
-    // @DisplayName: GCS sysid enforcement
-    // @Description: This controls whether packets from other than the expected GCS system ID will be accepted
-    // @Values: 0:NotEnforced,1:Enforced
-    // @User: Advanced
-    AP_GROUPINFO("SYSID_ENFORCE", 11, ParametersG2, sysid_enforce, 0),
+    // 11 was SYSID_ENFORCE
 
     // 12 was AP_Stats
 

ArduCopter/Parameters.h

@@ -208,7 +208,7 @@ public:
         k_param_gcs0_unused = 110,   // unused in ArduPilot-4.7
         k_param_gcs1_unused,         // unused in ArduPilot-4.7
         k_param_sysid_this_mav_old,
-        k_param_sysid_my_gcs,
+        k_param_sysid_my_gcs_old,
         k_param_serial1_baud_old, // deprecated
         k_param_telem_delay,
         k_param_gcs2_unused,         // unused in ArduPilot-4.7
@@ -391,7 +391,6 @@ public:
 
     // Telemetry control
     //
-    AP_Int16        sysid_my_gcs;
     AP_Int8         telem_delay;
 
     AP_Float        throttle_filt;
@@ -533,9 +532,6 @@ public:
     AP_Proximity proximity;
 #endif
 
-    // whether to enforce acceptance of packets only from sysid_my_gcs
-    AP_Int8 sysid_enforce;
-
 #if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
     // advanced failsafe library
     AP_AdvancedFailsafe_Copter afs;

ArduCopter/events.cpp

@@ -136,7 +136,7 @@ void Copter::failsafe_gcs_check()
     }
 
     // calc time since last gcs update
-    // note: this only looks at the heartbeat from the device id set by g.sysid_my_gcs
+    // note: this only looks at the heartbeat from the device id set by sysid_mygcs
     const uint32_t last_gcs_update_ms = millis() - gcs_last_seen_ms;
     const uint32_t gcs_timeout_ms = uint32_t(constrain_float(g2.fs_gcs_timeout * 1000.0f, 0.0f, UINT32_MAX));