Copter: use send_heartbeat wrapper

ArduCopter/GCS_Mavlink.cpp

@@ -80,27 +80,27 @@ NOINLINE void Copter::send_heartbeat(mavlink_channel_t chan)
     // indicate we have set a custom mode
     base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
 
-    mavlink_msg_heartbeat_send(
-        chan,
+    uint8_t mav_type;
 #if (FRAME_CONFIG == QUAD_FRAME)
-        MAV_TYPE_QUADROTOR,
+    mav_type = MAV_TYPE_QUADROTOR;
 #elif (FRAME_CONFIG == TRI_FRAME)
-        MAV_TYPE_TRICOPTER,
+    mav_type = MAV_TYPE_TRICOPTER;
 #elif (FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME)
-        MAV_TYPE_HEXAROTOR,
+    mav_type = MAV_TYPE_HEXAROTOR;
 #elif (FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME)
-        MAV_TYPE_OCTOROTOR,
+    mav_type = MAV_TYPE_OCTOROTOR;
 #elif (FRAME_CONFIG == HELI_FRAME)
-        MAV_TYPE_HELICOPTER,
+    mav_type = MAV_TYPE_HELICOPTER;
 #elif (FRAME_CONFIG == SINGLE_FRAME || FRAME_CONFIG == COAX_FRAME)  //because mavlink did not define a singlecopter, we use a rocket
-        MAV_TYPE_QUADROTOR,
+    mav_type = MAV_TYPE_QUADROTOR;
 #else
   #error Unrecognised frame type
 #endif
-        MAV_AUTOPILOT_ARDUPILOTMEGA,
-        base_mode,
-        custom_mode,
-        system_status);
+    
+    gcs[chan-MAVLINK_COMM_0].send_heartbeat(mav_type,
+                                            base_mode,
+                                            custom_mode,
+                                            system_status);
 }
 
 NOINLINE void Copter::send_attitude(mavlink_channel_t chan)