From 68497f27fa207f6cf52aab0c845c5014832bafc1 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 2 May 2018 20:40:30 +1000
Subject: [PATCH] Plane: move try_send_message handling of RC_CHANNELS up

---
 ArduPlane/ArduPlane.cpp   | 1 -
 ArduPlane/GCS_Mavlink.cpp | 7 +------
 ArduPlane/GCS_Mavlink.h   | 2 ++
 ArduPlane/Plane.h         | 4 ----
 ArduPlane/sensors.cpp     | 7 -------
 5 files changed, 3 insertions(+), 18 deletions(-)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 9414c8523c..0fee3a26f6 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -65,7 +65,6 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
 #endif
     SCHED_TASK(one_second_loop,         1,    400),
     SCHED_TASK(check_long_failsafe,     3,    400),
-    SCHED_TASK(read_receiver_rssi,     10,    100),
     SCHED_TASK(rpm_update,             10,    100),
     SCHED_TASK(airspeed_ratio_update,   1,    100),
     SCHED_TASK(update_mount,           50,    100),
diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 40ed62cf62..2d145d6f20 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -255,7 +255,7 @@ void Plane::send_servo_out(mavlink_channel_t chan)
         0,
         0,
         0,
-        receiver_rssi);
+        rssi.read_receiver_rssi_uint8());
 }
 
 void Plane::send_vfr_hud(mavlink_channel_t chan)
@@ -455,11 +455,6 @@ bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
 #endif
         break;
 
-    case MSG_RADIO_IN:
-        CHECK_PAYLOAD_SIZE(RC_CHANNELS);
-        send_radio_in(plane.receiver_rssi);
-        break;
-
     case MSG_SERVO_OUTPUT_RAW:
         CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
 #if HIL_SUPPORT
diff --git a/ArduPlane/GCS_Mavlink.h b/ArduPlane/GCS_Mavlink.h
index a7ba547239..e4797c37ee 100644
--- a/ArduPlane/GCS_Mavlink.h
+++ b/ArduPlane/GCS_Mavlink.h
@@ -47,4 +47,6 @@ private:
     MAV_MODE base_mode() const override;
     uint32_t custom_mode() const override;
     MAV_STATE system_status() const override;
+
+    uint8_t radio_in_rssi() const;
 };
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 8d6d953f27..7c2f866055 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -372,9 +372,6 @@ private:
     // 0-(throttle_max - throttle_cruise) : throttle nudge in Auto mode using top 1/2 of throttle stick travel
     int16_t throttle_nudge;
 
-    // receiver RSSI
-    uint8_t receiver_rssi;
-
     // Ground speed
     // The amount current ground speed is below min ground speed.  Centimeters per second
     int32_t groundspeed_undershoot;
@@ -924,7 +921,6 @@ private:
     void init_rangefinder(void);
     void read_rangefinder(void);
     void read_airspeed(void);
-    void read_receiver_rssi(void);
     void rpm_update(void);
     void button_update(void);
     void stats_update();
diff --git a/ArduPlane/sensors.cpp b/ArduPlane/sensors.cpp
index 4ba806c15b..fff787a21a 100644
--- a/ArduPlane/sensors.cpp
+++ b/ArduPlane/sensors.cpp
@@ -96,13 +96,6 @@ void Plane::read_airspeed(void)
     }
 }
 
-// read the receiver RSSI as an 8 bit number for MAVLink
-// RC_CHANNELS_SCALED message
-void Plane::read_receiver_rssi(void)
-{
-    receiver_rssi = rssi.read_receiver_rssi_uint8();
-}
-
 /*
   update RPM sensors
  */