From 92927cd8482b27975bc72e0eaed57d0c72170833 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 10 May 2018 16:56:25 +1000
Subject: [PATCH] GCS_MAVLink: move try_send_message of servo-output-raw up

---
 libraries/GCS_MAVLink/GCS.h          | 2 +-
 libraries/GCS_MAVLink/GCS_Common.cpp | 9 +++++++--
 2 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index d669c25d50..13a179fcc5 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -189,7 +189,7 @@ public:
     void send_home() const;
     void send_ekf_origin() const;
     virtual void send_position_target_global_int() { };
-    void send_servo_output_raw(bool hil);
+    void send_servo_output_raw();
     static void send_collision_all(const AP_Avoidance::Obstacle &threat, MAV_COLLISION_ACTION behaviour);
     void send_accelcal_vehicle_position(uint32_t position);
 
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index c432b1c4db..8bc43e4994 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1652,10 +1652,10 @@ bool GCS_MAVLINK::telemetry_delayed() const
 /*
   send SERVO_OUTPUT_RAW
  */
-void GCS_MAVLINK::send_servo_output_raw(bool hil)
+void GCS_MAVLINK::send_servo_output_raw()
 {
     uint16_t values[16] {};
-    if (hil) {
+    if (in_hil_mode()) {
         for (uint8_t i=0; i<16; i++) {
             values[i] = SRV_Channels::srv_channel(i)->get_output_pwm();
         }
@@ -2868,6 +2868,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         send_sensor_offsets();
         break;
 
+    case MSG_SERVO_OUTPUT_RAW:
+        CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
+        send_servo_output_raw();
+        break;
+
     case MSG_AHRS:
         CHECK_PAYLOAD_SIZE(AHRS);
         send_ahrs();