From 33582107b640406481b71acb9b3396021261dfd4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 1 May 2018 22:05:09 +1000
Subject: [PATCH] Copter: move sending of GLOBAL_POSITION_INT up to GCS_MAVLINK

---
 ArduCopter/Copter.h        |  1 -
 ArduCopter/GCS_Mavlink.cpp | 23 -----------------------
 2 files changed, 24 deletions(-)

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index eb7618a1cb..01f3ebd19b 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -760,7 +760,6 @@ private:
     void gcs_send_deferred(void);
     void send_fence_status(mavlink_channel_t chan);
     void send_extended_status1(mavlink_channel_t chan);
-    void send_location(mavlink_channel_t chan);
     void send_nav_controller_output(mavlink_channel_t chan);
     void send_simstate(mavlink_channel_t chan);
     void send_vfr_hud(mavlink_channel_t chan);
diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 010f030848..3c3fcfcff2 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -132,24 +132,6 @@ NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
         0, 0, 0, 0);
 }
 
-void NOINLINE Copter::send_location(mavlink_channel_t chan)
-{
-    const uint32_t now = AP_HAL::millis();
-    Vector3f vel;
-    ahrs.get_velocity_NED(vel);
-    mavlink_msg_global_position_int_send(
-        chan,
-        now,
-        current_loc.lat,                // in 1E7 degrees
-        current_loc.lng,                // in 1E7 degrees
-        (ahrs.get_home().alt + current_loc.alt) * 10UL,      // millimeters above sea level
-        current_loc.alt * 10,           // millimeters above ground
-        vel.x * 100,                    // X speed cm/s (+ve North)
-        vel.y * 100,                    // Y speed cm/s (+ve East)
-        vel.z * 100,                    // Z speed cm/s (+ve Down)
-        ahrs.yaw_sensor);               // compass heading in 1/100 degree
-}
-
 void NOINLINE Copter::send_nav_controller_output(mavlink_channel_t chan)
 {
     const Vector3f &targets = attitude_control->get_att_target_euler_cd();
@@ -305,11 +287,6 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
         }
         break;
 
-    case MSG_LOCATION:
-        CHECK_PAYLOAD_SIZE(GLOBAL_POSITION_INT);
-        copter.send_location(chan);
-        break;
-
     case MSG_NAV_CONTROLLER_OUTPUT:
         CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
         copter.send_nav_controller_output(chan);