Plane: move sending of POSITION_TARGET_GLOBAL_INT up

ArduPlane/GCS_Mavlink.cpp

@@ -192,8 +192,12 @@ void Plane::send_nav_controller_output(mavlink_channel_t chan)
         nav_controller->crosstrack_error());
 }
 
-void Plane::send_position_target_global_int(mavlink_channel_t chan)
+void GCS_MAVLINK_Plane::send_position_target_global_int()
 {
+    if (plane.control_mode == MANUAL) {
+        return;
+    }
+    Location &next_WP_loc = plane.next_WP_loc;
     mavlink_msg_position_target_global_int_send(
         chan,
         AP_HAL::millis(), // time_boot_ms
@@ -405,13 +409,6 @@ bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
         }
         break;
 
-    case MSG_POSITION_TARGET_GLOBAL_INT:
-        if (plane.control_mode != MANUAL) {
-            CHECK_PAYLOAD_SIZE(POSITION_TARGET_GLOBAL_INT);
-            plane.send_position_target_global_int(chan);
-        }
-        break;
-
     case MSG_SERVO_OUT:
 #if HIL_SUPPORT
         if (plane.g.hil_mode == 1) {

ArduPlane/GCS_Mavlink.h

@@ -32,6 +32,8 @@ protected:
     MAV_RESULT handle_command_preflight_calibration(const mavlink_command_long_t &packet) override;
     MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet) override;
 
+    void send_position_target_global_int() override;
+
     virtual bool in_hil_mode() const override;
 
     void send_attitude() const override;

ArduPlane/Plane.h

@@ -772,7 +772,6 @@ private:
     void update_sensor_status_flags(void);
     void send_extended_status1(mavlink_channel_t chan);
     void send_nav_controller_output(mavlink_channel_t chan);
-    void send_position_target_global_int(mavlink_channel_t chan);
     void send_servo_out(mavlink_channel_t chan);
     void send_vfr_hud(mavlink_channel_t chan);
     void send_simstate(mavlink_channel_t chan);