diff --git a/APMrover2/system.pde b/APMrover2/system.pde index 328fccfa89e928dfad6338ea10dbdf7316769c1f..42aee793236a8809da4b2bfd842b64dcf21e0d0e 100644 --- a/APMrover2/system.pde +++ b/APMrover2/system.pde @@ -135,15 +135,10 @@ static void init_ardupilot() check_usb_mux(); // we have a 2nd serial port for telemetry - hal.uartC->begin(map_baudrate(g.serial1_baud, SERIAL1_BAUD), 128, 128); - gcs[1].init(hal.uartC); + gcs[1].setup_uart(hal.uartC, map_baudrate(g.serial1_baud, SERIAL1_BAUD), 128, 128); #if MAVLINK_COMM_NUM_BUFFERS > 2 - // we may have a 3rd serial port for telemetry - if (hal.uartD != NULL) { - hal.uartD->begin(map_baudrate(g.serial2_baud, SERIAL2_BAUD), 128, 128); - gcs[2].init(hal.uartD); - } + gcs[2].setup_uart(hal.uartD, map_baudrate(g.serial2_baud, SERIAL2_BAUD), 128, 128); #endif mavlink_system.sysid = g.sysid_this_mav;