Rover: move sending of send_pid_tuning up

APMrover2/GCS_Mavlink.cpp

@@ -171,9 +171,14 @@ void Rover::send_rpm(mavlink_channel_t chan)
 /*
   send PID tuning message
  */
-void Rover::send_pid_tuning(mavlink_channel_t chan)
+void GCS_MAVLINK_Rover::send_pid_tuning()
 {
+    Parameters &g = rover.g;
+    ParametersG2 &g2 = rover.g2;
+    const AP_AHRS &ahrs = AP::ahrs();
+
     const AP_Logger::PID_Info *pid_info;
+
     // steering PID
     if (g.gcs_pid_mask & 1) {
         pid_info = &g2.attitude_control.get_steering_rate_pid().get_pid_info();
@@ -333,11 +338,6 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
         rover.g2.windvane.send_wind(chan);
         break;
 
-    case MSG_PID_TUNING:
-        CHECK_PAYLOAD_SIZE(PID_TUNING);
-        rover.send_pid_tuning(chan);
-        break;
-
     default:
         return GCS_MAVLINK::try_send_message(id);
     }

APMrover2/GCS_Mavlink.h

@@ -35,6 +35,7 @@ protected:
     uint64_t capabilities() const override;
 
     void send_nav_controller_output() const override;
+    void send_pid_tuning() override;
 
 private:
 

APMrover2/Rover.h

@@ -436,7 +436,6 @@ private:
 
     // GCS_Mavlink.cpp
     void send_servo_out(mavlink_channel_t chan);
-    void send_pid_tuning(mavlink_channel_t chan);
     void send_rpm(mavlink_channel_t chan);
     void send_wheel_encoder_distance(mavlink_channel_t chan);