GCS_Mavlink: refactor zero_rc_outputs() out of GCS_Mavlink

libraries/GCS_MAVLink/GCS.h

@@ -825,8 +825,6 @@ private:
     // no idea where we are:
     struct Location global_position_current_loc;
 
-    void zero_rc_outputs();
-
     uint8_t last_tx_seq;
     uint16_t send_packet_count;
     uint16_t out_of_space_to_send_count; // number of times HAVE_PAYLOAD_SPACE and friends have returned false

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -2610,17 +2610,6 @@ void GCS_MAVLINK::send_vfr_hud()
         vfr_hud_climbrate());
 }
 
-void GCS_MAVLINK::zero_rc_outputs()
-{
-    // Send an invalid signal to the motors to prevent spinning due to neutral (1500) pwm pulse being cut short
-    // For that matter, send an invalid signal to all channels to prevent undesired/unexpected behavior
-    SRV_Channels::cork();
-    for (int i=0; i<NUM_RC_CHANNELS; i++) {
-        hal.rcout->write(i, 0);
-    }
-    SRV_Channels::push();
-}
-
 /*
   handle a MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN command 
 
@@ -2668,7 +2657,7 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &pa
     }
 
     if (should_zero_rc_outputs_on_reboot()) {
-        zero_rc_outputs();
+        SRV_Channels::zero_rc_outputs();
     }
 
     // send ack before we reboot