From ef77bea4eb54cdbd16623f9611470e2dd71891d2 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 29 Jan 2018 10:02:58 +1100
Subject: [PATCH] Plane: move sending of simstate up

---
 ArduPlane/GCS_Mavlink.cpp | 13 +++----------
 ArduPlane/GCS_Mavlink.h   |  1 +
 ArduPlane/Plane.h         |  1 -
 3 files changed, 4 insertions(+), 11 deletions(-)

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index e5cc818a4b..42fd80bd26 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -263,12 +263,12 @@ static mavlink_hil_state_t last_hil_state;
 #endif
 
 // report simulator state
-void Plane::send_simstate(mavlink_channel_t chan)
+void GCS_MAVLINK_Plane::send_simstate() const
 {
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-    sitl.simstate_send(chan);
+    GCS_MAVLINK::send_simstate();
 #elif HIL_SUPPORT
-    if (g.hil_mode == 1) {
+    if (plane.g.hil_mode == 1) {
         mavlink_msg_simstate_send(chan,
                                   last_hil_state.roll,
                                   last_hil_state.pitch,
@@ -430,13 +430,6 @@ bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
 #endif
         break;
 
-    case MSG_SIMSTATE:
-        CHECK_PAYLOAD_SIZE(SIMSTATE);
-        plane.send_simstate(chan);
-        CHECK_PAYLOAD_SIZE2(AHRS2);
-        send_ahrs2();
-        break;
-
     case MSG_TERRAIN:
 #if AP_TERRAIN_AVAILABLE
         CHECK_PAYLOAD_SIZE(TERRAIN_REQUEST);
diff --git a/ArduPlane/GCS_Mavlink.h b/ArduPlane/GCS_Mavlink.h
index 0f8dc95575..c989c315d2 100644
--- a/ArduPlane/GCS_Mavlink.h
+++ b/ArduPlane/GCS_Mavlink.h
@@ -37,6 +37,7 @@ protected:
     virtual bool in_hil_mode() const override;
 
     void send_attitude() const override;
+    void send_simstate() const override;
 
 private:
 
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 9490168e06..cd96179b67 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -774,7 +774,6 @@ private:
     void send_nav_controller_output(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);
     void send_wind(mavlink_channel_t chan);
     void send_pid_info(const mavlink_channel_t chan, const DataFlash_Class::PID_Info *pid_info, const uint8_t axis, const float achieved);
     void send_pid_tuning(mavlink_channel_t chan);