GCS_MAVLink: move try_send_message of RAW_IMU up to GCS_MAVLINK

libraries/GCS_MAVLink/GCS.h

@@ -172,7 +172,7 @@ public:
     void send_ahrs2();
     void send_system_time();
     void send_radio_in();
-    void send_raw_imu(const AP_InertialSensor &ins, const Compass &compass);
+    void send_raw_imu();
     void send_scaled_pressure();
     void send_sensor_offsets(const AP_InertialSensor &ins, const Compass &compass);
     void send_ahrs();

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -1030,8 +1030,11 @@ void GCS_MAVLINK::send_radio_in()
         receiver_rssi);        
 }
 
-void GCS_MAVLINK::send_raw_imu(const AP_InertialSensor &ins, const Compass &compass)
+void GCS_MAVLINK::send_raw_imu()
 {
+    const AP_InertialSensor &ins = AP::ins();
+    const Compass &compass = AP::compass();
+
     const Vector3f &accel = ins.get_accel(0);
     const Vector3f &gyro = ins.get_gyro(0);
     Vector3f mag;
@@ -2765,6 +2768,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         send_radio_in();
         break;
 
+    case MSG_RAW_IMU1:
+        CHECK_PAYLOAD_SIZE(RAW_IMU);
+        send_raw_imu();
+        break;
+
     case MSG_AHRS:
         CHECK_PAYLOAD_SIZE(AHRS);
         send_ahrs();