From 5167ec7708d5152797c95367a8ff2a4835df61ac Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 1 Jan 2018 15:27:39 +0900
Subject: [PATCH] Rover: send PID to GCS regardless of mode

Also add some comments
---
 APMrover2/GCS_Mavlink.cpp | 6 ++++--
 APMrover2/mode.h          | 6 ------
 2 files changed, 4 insertions(+), 8 deletions(-)

diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index 4d7ba078b4..2360aea0bc 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -222,7 +222,8 @@ void Rover::send_rangefinder(mavlink_channel_t chan)
 void Rover::send_pid_tuning(mavlink_channel_t chan)
 {
     const DataFlash_Class::PID_Info *pid_info;
-    if ((g.gcs_pid_mask & 1) && (!control_mode->manual_steering())) {
+    // steering PID
+    if (g.gcs_pid_mask & 1) {
         pid_info = &g2.attitude_control.get_steering_rate_pid().get_pid_info();
         mavlink_msg_pid_tuning_send(chan, PID_TUNING_STEER,
                                     degrees(pid_info->desired),
@@ -235,7 +236,8 @@ void Rover::send_pid_tuning(mavlink_channel_t chan)
             return;
         }
     }
-    if ((g.gcs_pid_mask & 2) && (control_mode->auto_throttle())) {
+    // speed to throttle PID
+    if (g.gcs_pid_mask & 2) {
         pid_info = &g2.attitude_control.get_throttle_speed_pid().get_pid_info();
         float speed = 0.0f;
         g2.attitude_control.get_forward_speed(speed);
diff --git a/APMrover2/mode.h b/APMrover2/mode.h
index 80ef0a7997..7312935fc7 100644
--- a/APMrover2/mode.h
+++ b/APMrover2/mode.h
@@ -42,9 +42,6 @@ public:
     // return if in non-manual mode : AUTO, GUIDED, RTL
     virtual bool is_autopilot_mode() const { return false; }
 
-    // returns true if steering is directly controlled by RC
-    virtual bool manual_steering() const { return false; }
-
     // returns true if the throttle is controlled automatically
     virtual bool auto_throttle() { return is_autopilot_mode(); }
 
@@ -309,9 +306,6 @@ public:
     // methods that affect movement of the vehicle in this mode
     void update() override;
 
-    // attributes of the mode
-    bool manual_steering() const override { return true; }
-
     // attributes for mavlink system status reporting
     bool has_manual_input() const override { return true; }
     bool attitude_stabilized() const override { return false; }