Copter: move sending of fence_status message up

ArduCopter/Copter.h

@@ -724,11 +724,9 @@ private:
 
     // fence.cpp
     void fence_check();
-    void fence_send_mavlink_status(mavlink_channel_t chan);
 
     // GCS_Mavlink.cpp
     void gcs_send_heartbeat(void);
-    void send_fence_status(mavlink_channel_t chan);
     void send_sys_status(mavlink_channel_t chan);
     void send_nav_controller_output(mavlink_channel_t chan);
     void send_rpm(mavlink_channel_t chan);

ArduCopter/GCS_Mavlink.cpp

@@ -118,14 +118,6 @@ void GCS_MAVLINK_Copter::send_position_target_global_int()
         0.0f); // yaw_rate
 }
 
-#if AC_FENCE == ENABLED
-NOINLINE void Copter::send_fence_status(mavlink_channel_t chan)
-{
-    fence_send_mavlink_status(chan);
-}
-#endif
-
-
 NOINLINE void Copter::send_sys_status(mavlink_channel_t chan)
 {
     int16_t battery_current = -1;
@@ -306,13 +298,6 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
 #endif
         break;
 
-    case MSG_FENCE_STATUS:
-#if AC_FENCE == ENABLED
-        CHECK_PAYLOAD_SIZE(FENCE_STATUS);
-        copter.send_fence_status(chan);
-#endif
-        break;
-
     case MSG_WIND:
     case MSG_SERVO_OUT:
     case MSG_AOA_SSA:

ArduCopter/fence.cpp

@@ -78,27 +78,4 @@ void Copter::fence_check()
     }
 }
 
-// fence_send_mavlink_status - send fence status to ground station
-void Copter::fence_send_mavlink_status(mavlink_channel_t chan)
-{   
-    if (fence.enabled()) {
-        // traslate fence library breach types to mavlink breach types
-        uint8_t mavlink_breach_type = FENCE_BREACH_NONE;
-        uint8_t breaches = fence.get_breaches();
-        if ((breaches & AC_FENCE_TYPE_ALT_MAX) != 0) {
-            mavlink_breach_type = FENCE_BREACH_MAXALT;
-        }
-        if ((breaches & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) != 0) {
-            mavlink_breach_type = FENCE_BREACH_BOUNDARY;
-        }
-
-        // send status
-        mavlink_msg_fence_status_send(chan,
-                                      (int8_t)(fence.get_breaches()!=0),
-                                      fence.get_breach_count(),
-                                      mavlink_breach_type,
-                                      fence.get_breach_time());
-    }
-}
-
 #endif