From 53e71ccf1211bec921f68480692128338d737a9c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 15 Jul 2016 20:04:19 +1000
Subject: [PATCH] AntennaTracker: adjust for 16 channels in SERVO_OUTPUT_RAW

---
 AntennaTracker/GCS_Mavlink.cpp | 18 +-----------------
 AntennaTracker/Tracker.h       |  1 -
 2 files changed, 1 insertion(+), 18 deletions(-)

diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index f8c04fb372..863e060b2d 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@@ -103,22 +103,6 @@ void Tracker::send_location(mavlink_channel_t chan)
         ahrs.yaw_sensor);
 }
 
-void Tracker::send_radio_out(mavlink_channel_t chan)
-{
-    mavlink_msg_servo_output_raw_send(
-        chan,
-        AP_HAL::micros(),
-        0,     // port
-        hal.rcout->read(0),
-        hal.rcout->read(1),
-        hal.rcout->read(2),
-        hal.rcout->read(3),
-        hal.rcout->read(4),
-        hal.rcout->read(5),
-        hal.rcout->read(6),
-        hal.rcout->read(7));
-}
-
 void Tracker::send_hwstatus(mavlink_channel_t chan)
 {
     mavlink_msg_hwstatus_send(
@@ -210,7 +194,7 @@ bool GCS_MAVLINK_Tracker::try_send_message(enum ap_message id)
 
     case MSG_RADIO_OUT:
         CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
-        tracker.send_radio_out(chan);
+        send_servo_output_raw(false);
         break;
 
     case MSG_RAW_IMU1:
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 698e176993..3bcc9b3c5d 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -189,7 +189,6 @@ private:
     void send_heartbeat(mavlink_channel_t chan);
     void send_attitude(mavlink_channel_t chan);
     void send_location(mavlink_channel_t chan);
-    void send_radio_out(mavlink_channel_t chan);
     void send_hwstatus(mavlink_channel_t chan);
     void send_waypoint_request(mavlink_channel_t chan);
     void send_nav_controller_output(mavlink_channel_t chan);