Copter: move handling of VFR_HUD into GCS_MAVLink_Copter

ArduCopter/Copter.h

@@ -768,7 +768,6 @@ private:
     void send_fence_status(mavlink_channel_t chan);
     void send_extended_status1(mavlink_channel_t chan);
     void send_nav_controller_output(mavlink_channel_t chan);
-    void send_vfr_hud(mavlink_channel_t chan);
     void send_rpm(mavlink_channel_t chan);
     void send_pid_tuning(mavlink_channel_t chan);
     void gcs_data_stream_send(void);

ArduCopter/GCS_Mavlink.cpp

@@ -171,16 +171,9 @@ void NOINLINE Copter::send_nav_controller_output(mavlink_channel_t chan)
         0);
 }
 
-void NOINLINE Copter::send_vfr_hud(mavlink_channel_t chan)
+int16_t GCS_MAVLINK_Copter::vfr_hud_throttle() const
 {
-    mavlink_msg_vfr_hud_send(
-        chan,
-        gps.ground_speed(),
-        ahrs.groundspeed(),
-        (ahrs.yaw_sensor / 100) % 360,
-        (int16_t)(motors->get_throttle() * 100),
-        current_loc.alt / 100.0f,
-        climb_rate / 100.0f);
+    return (int16_t)(copter.motors->get_throttle() * 100);
 }
 
 /*
@@ -308,11 +301,6 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
         copter.send_nav_controller_output(chan);
         break;
 
-    case MSG_VFR_HUD:
-        CHECK_PAYLOAD_SIZE(VFR_HUD);
-        copter.send_vfr_hud(chan);
-        break;
-
     case MSG_RPM:
 #if RPM_ENABLED == ENABLED
         CHECK_PAYLOAD_SIZE(RPM);

ArduCopter/GCS_Mavlink.h

@@ -51,4 +51,8 @@ private:
     MAV_MODE base_mode() const override;
     uint32_t custom_mode() const override;
     MAV_STATE system_status() const override;
+
+    int16_t vfr_hud_throttle() const override;
+    bool vfr_hud_make_alt_relative() const override { return true; }
+
 };