Copter: move get_frame_mav_type to motors

ArduCopter/Copter.h

@@ -864,7 +864,6 @@ private:
     bool ekf_alt_ok() const;
     void update_auto_armed();
     bool should_log(uint32_t mask);
-    MAV_TYPE get_frame_mav_type();
     const char* get_frame_string();
     void allocate_motors(void);
     bool is_tradheli() const;

ArduCopter/GCS_Mavlink.cpp

@@ -14,7 +14,10 @@
 
 MAV_TYPE GCS_Copter::frame_type() const
 {
-    return copter.get_frame_mav_type();
+    if (copter.motors == nullptr) {
+        return MAV_TYPE_GENERIC;
+    }
+    return copter.motors->get_frame_mav_type();
 }
 
 MAV_MODE GCS_MAVLINK_Copter::base_mode() const

ArduCopter/system.cpp

@@ -448,38 +448,6 @@ bool Copter::should_log(uint32_t mask)
 #endif
 }
 
-// return MAV_TYPE corresponding to frame class
-MAV_TYPE Copter::get_frame_mav_type()
-{
-    switch ((AP_Motors::motor_frame_class)g2.frame_class.get()) {
-        case AP_Motors::MOTOR_FRAME_QUAD:
-        case AP_Motors::MOTOR_FRAME_UNDEFINED:
-            return MAV_TYPE_QUADROTOR;
-        case AP_Motors::MOTOR_FRAME_HEXA:
-        case AP_Motors::MOTOR_FRAME_Y6:
-            return MAV_TYPE_HEXAROTOR;
-        case AP_Motors::MOTOR_FRAME_OCTA:
-        case AP_Motors::MOTOR_FRAME_OCTAQUAD:
-            return MAV_TYPE_OCTOROTOR;
-        case AP_Motors::MOTOR_FRAME_HELI:
-        case AP_Motors::MOTOR_FRAME_HELI_DUAL:
-        case AP_Motors::MOTOR_FRAME_HELI_QUAD:
-            return MAV_TYPE_HELICOPTER;
-        case AP_Motors::MOTOR_FRAME_TRI:
-            return MAV_TYPE_TRICOPTER;
-        case AP_Motors::MOTOR_FRAME_SINGLE:
-        case AP_Motors::MOTOR_FRAME_COAX:
-        case AP_Motors::MOTOR_FRAME_TAILSITTER:
-            return MAV_TYPE_COAXIAL;
-        case AP_Motors::MOTOR_FRAME_DODECAHEXA:
-            return MAV_TYPE_DODECAROTOR;
-        case AP_Motors::MOTOR_FRAME_DECA:
-            return MAV_TYPE_DECAROTOR;
-    }
-    // unknown frame so return generic
-    return MAV_TYPE_GENERIC;
-}
-
 // return string corresponding to frame_class
 const char* Copter::get_frame_string()
 {