APMrover2: move try_send_message handling of RC_CHANNELS_RAW up

APMrover2/APMrover2.cpp

@@ -66,7 +66,6 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
     SCHED_TASK(read_control_switch,     7,    200),
     SCHED_TASK(read_aux_switch,        10,    200),
     SCHED_TASK_CLASS(AP_BattMonitor,      &rover.battery,          read,           10,  300),
-    SCHED_TASK(read_receiver_rssi,     10,    200),
     SCHED_TASK_CLASS(AP_ServoRelayEvents, &rover.ServoRelayEvents, update_events,  50,  200),
     SCHED_TASK(check_usb_mux,           3,    200),
 #if MOUNT == ENABLED

APMrover2/GCS_Mavlink.cpp

@@ -169,7 +169,7 @@ void Rover::send_servo_out(mavlink_channel_t chan)
         0,
         0,
         0,
-        receiver_rssi);
+        rssi.read_receiver_rssi_uint8());
 }
 
 void Rover::send_vfr_hud(mavlink_channel_t chan)
@@ -333,11 +333,6 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
         rover.send_servo_out(chan);
         break;
 
-    case MSG_RADIO_IN:
-        CHECK_PAYLOAD_SIZE(RC_CHANNELS);
-        send_radio_in(rover.receiver_rssi);
-        break;
-
     case MSG_SERVO_OUTPUT_RAW:
         CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
         send_servo_output_raw(false);

APMrover2/Rover.h

@@ -264,9 +264,6 @@ private:
     // true if we have a position estimate from AHRS
     bool have_position;
 
-    // receiver RSSI
-    uint8_t receiver_rssi;
-
     // the time when the last HEARTBEAT message arrived from a GCS
     uint32_t last_heartbeat_ms;
 
@@ -525,7 +522,6 @@ private:
     void init_visual_odom();
     void update_visual_odom();
     void update_wheel_encoder();
-    void read_receiver_rssi(void);
     void compass_cal_update(void);
     void accel_cal_update(void);
     void read_rangefinders(void);

APMrover2/sensors.cpp

@@ -145,13 +145,6 @@ void Rover::update_wheel_encoder()
     wheel_encoder_last_ekf_update_ms = now;
 }
 
-// read the receiver RSSI as an 8 bit number for MAVLink
-// RC_CHANNELS_SCALED message
-void Rover::read_receiver_rssi(void)
-{
-    receiver_rssi = rssi.read_receiver_rssi_uint8();
-}
-
 // Calibrate compass
 void Rover::compass_cal_update() {
     if (!hal.util->get_soft_armed()) {