Plane: move sending of simstate up

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);

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:
 

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);