From b51ec1d346e0bc190143fd5018e765b01ea5ee43 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 3 May 2018 11:31:47 +1000
Subject: [PATCH] GCS_MAVLink: move try_send_message of RAW_IMU up to
 GCS_MAVLINK

---
 libraries/GCS_MAVLink/GCS.h          |  2 +-
 libraries/GCS_MAVLink/GCS_Common.cpp | 10 +++++++++-
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index a692b59453..cf50b37f09 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/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();
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index c220c96dca..9dbebbd01d 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/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();