Copter: use AHRS singleton in GCS_MAVLink

ArduCopter/GCS_Mavlink.cpp

@@ -318,11 +318,6 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
         copter.send_location(chan);
         break;
 
-    case MSG_LOCAL_POSITION:
-        CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED);
-        send_local_position(copter.ahrs);
-        break;
-
     case MSG_NAV_CONTROLLER_OUTPUT:
         CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
         copter.send_nav_controller_output(chan);
@@ -389,18 +384,13 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
 #endif
         break;
 
-    case MSG_AHRS:
-        CHECK_PAYLOAD_SIZE(AHRS);
-        send_ahrs(copter.ahrs);
-        break;
-
     case MSG_SIMSTATE:
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
         CHECK_PAYLOAD_SIZE(SIMSTATE);
         copter.send_simstate(chan);
 #endif
         CHECK_PAYLOAD_SIZE(AHRS2);
-        send_ahrs2(copter.ahrs);
+        send_ahrs2();
         break;
 
     case MSG_MOUNT_STATUS:
@@ -418,7 +408,7 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
     case MSG_OPTICAL_FLOW:
 #if OPTFLOW == ENABLED
         CHECK_PAYLOAD_SIZE(OPTICAL_FLOW);
-        send_opticalflow(copter.ahrs, copter.optflow);
+        send_opticalflow(copter.optflow);
 #endif
         break;