From a2c4bfea0cb473be50a1acea748d33c12057f4f7 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 6 Jun 2019 20:51:24 +1000
Subject: [PATCH] GCS_MAVLink: use send_to_active_channels for parameters

---
 libraries/GCS_MAVLink/GCS_Param.cpp | 25 ++++++++++---------------
 1 file changed, 10 insertions(+), 15 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS_Param.cpp b/libraries/GCS_MAVLink/GCS_Param.cpp
index 3950b2c6fb..6001093d3d 100644
--- a/libraries/GCS_MAVLink/GCS_Param.cpp
+++ b/libraries/GCS_MAVLink/GCS_Param.cpp
@@ -304,21 +304,16 @@ void GCS_MAVLINK::handle_param_set(mavlink_message_t *msg)
  */
 void GCS::send_parameter_value(const char *param_name, ap_var_type param_type, float param_value)
 {
-    const uint8_t mavlink_active = GCS_MAVLINK::active_channel_mask();
-    for (uint8_t i=0; i<MAVLINK_COMM_NUM_BUFFERS; i++) {
-        if ((1U<<i) & mavlink_active) {
-            const mavlink_channel_t _chan = (mavlink_channel_t)(MAVLINK_COMM_0+i);
-            if (HAVE_PAYLOAD_SPACE(_chan, PARAM_VALUE)) {
-                mavlink_msg_param_value_send(
-                    _chan,
-                    param_name,
-                    param_value,
-                    mav_param_type(param_type),
-                    AP_Param::count_parameters(),
-                    -1);
-            }
-        }
-    }
+    mavlink_param_value_t packet;
+    strncpy(packet.param_id, param_name, ARRAY_SIZE(packet.param_id));
+    packet.param_value = param_value;
+    packet.param_type = mav_param_type(param_type);
+    packet.param_count = AP_Param::count_parameters();
+    packet.param_index = -1;
+
+    gcs().send_to_active_channels(MAVLINK_MSG_ID_PARAM_VALUE,
+                                  (const char *)&packet);
+
     // also log to AP_Logger
     AP_Logger *logger = AP_Logger::get_singleton();
     if (logger != nullptr) {