Copter: move try_send_message handling of RC_CHANNELS up

ArduCopter/ArduCopter.cpp

@@ -150,7 +150,6 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #endif
     SCHED_TASK_CLASS(AP_InertialSensor,    &copter.ins,                 periodic,       400,  50),
     SCHED_TASK_CLASS(AP_Scheduler,         &copter.scheduler,           update_logging, 0.1,  75),
-    SCHED_TASK(read_receiver_rssi,    10,     75),
 #if RPM_ENABLED == ENABLED
     SCHED_TASK(rpm_update,            10,    200),
 #endif

ArduCopter/Copter.h

@@ -378,9 +378,6 @@ private:
     AP_BoardConfig_CAN BoardConfig_CAN;
 #endif
 
-    // receiver RSSI
-    uint8_t receiver_rssi;
-
     // Failsafe
     struct {
         uint32_t last_heartbeat_ms;      // the time when the last HEARTBEAT message arrived from a GCS - used for triggering gcs failsafe
@@ -886,7 +883,6 @@ private:
     void compass_accumulate(void);
     void init_optflow();
     void update_optical_flow(void);
-    void read_receiver_rssi(void);
     void compass_cal_update(void);
     void accel_cal_update(void);
     void init_proximity();

ArduCopter/GCS_Mavlink.cpp

@@ -334,11 +334,6 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
         copter.send_nav_controller_output(chan);
         break;
 
-    case MSG_RADIO_IN:
-        CHECK_PAYLOAD_SIZE(RC_CHANNELS);
-        send_radio_in(copter.receiver_rssi);
-        break;
-
     case MSG_SERVO_OUTPUT_RAW:
         CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
         send_servo_output_raw(false);

ArduCopter/sensors.cpp

@@ -162,13 +162,6 @@ void Copter::update_optical_flow(void)
 }
 #endif  // OPTFLOW == ENABLED
 
-// read the receiver RSSI as an 8 bit number for MAVLink
-// RC_CHANNELS_SCALED message
-void Copter::read_receiver_rssi(void)
-{
-    receiver_rssi = rssi.read_receiver_rssi_uint8();
-}
-
 void Copter::compass_cal_update()
 {
     static uint32_t compass_cal_stick_gesture_begin = 0;