Copter: move handling of visual odometry messages up

ArduCopter/GCS_Mavlink.cpp

@@ -1719,12 +1719,6 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
 #endif
         break;
 
-    case MAVLINK_MSG_ID_VISION_POSITION_DELTA:
-#if VISUAL_ODOMETRY_ENABLED == ENABLED
-        copter.g2.visual_odom.handle_msg(msg);
-#endif
-        break;
-
 #if TOY_MODE_ENABLED == ENABLED
     case MAVLINK_MSG_ID_NAMED_VALUE_INT:
         copter.g2.toy_mode.handle_message(msg);
@@ -1842,6 +1836,16 @@ AP_AdvancedFailsafe *GCS_MAVLINK_Copter::get_advanced_failsafe() const
 #endif
 }
 
+AP_VisualOdom *GCS_MAVLINK_Copter::get_visual_odom() const
+{
+#if VISUAL_ODOMETRY_ENABLED == ENABLED
+    return &copter.g2.visual_odom;
+#else
+    return nullptr;
+#endif
+}
+
+
 MAV_RESULT GCS_MAVLINK_Copter::handle_flight_termination(const mavlink_command_long_t &packet) {
     MAV_RESULT result = MAV_RESULT_FAILED;
 

ArduCopter/GCS_Mavlink.h

@@ -25,6 +25,7 @@ protected:
     AP_ServoRelayEvents *get_servorelayevents() const override;
     MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet) override;
     AP_AdvancedFailsafe *get_advanced_failsafe() const override;
+    AP_VisualOdom *get_visual_odom() const override;
     const AP_FWVersion &get_fwver() const override;
     void set_ekf_origin(const Location& loc) override;
 

ArduCopter/make.inc

@@ -62,7 +62,6 @@ LIBRARIES += AP_Stats
 LIBRARIES += AP_Gripper
 LIBRARIES += AP_Beacon
 LIBRARIES += AP_Arming
-LIBRARIES += AP_VisualOdom
 LIBRARIES += AP_SmartRTL
 LIBRARIES += AP_Winch
 LIBRARIES += AP_WheelEncoder

ArduCopter/wscript

@@ -32,7 +32,6 @@ def build(bld):
             'AP_Gripper',
             'AP_Beacon',
             'AP_Arming',
-            'AP_VisualOdom',
             'AP_WheelEncoder',
             'AP_Winch',
             'AP_Follow',