Sub: move sending of send_pid_tuning up

ArduSub/GCS_Mavlink.cpp

@@ -166,8 +166,12 @@ bool GCS_MAVLINK_Sub::send_info()
 /*
   send PID tuning message
  */
-void Sub::send_pid_tuning(mavlink_channel_t chan)
+void GCS_MAVLINK_Sub::send_pid_tuning()
 {
+    const Parameters &g = sub.g;
+    AP_AHRS &ahrs = AP::ahrs();
+    AC_AttitudeControl_Sub &attitude_control = sub.attitude_control;
+
     const Vector3f &gyro = ahrs.get_gyro();
     if (g.gcs_pid_mask & 1) {
         const AP_Logger::PID_Info &pid_info = attitude_control.get_rate_roll_pid().get_pid_info();
@@ -209,7 +213,7 @@ void Sub::send_pid_tuning(mavlink_channel_t chan)
         }
     }
     if (g.gcs_pid_mask & 8) {
-        const AP_Logger::PID_Info &pid_info = pos_control.get_accel_z_pid().get_pid_info();
+        const AP_Logger::PID_Info &pid_info = sub.pos_control.get_accel_z_pid().get_pid_info();
         mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
                                     pid_info.desired*0.01f,
                                     -(ahrs.get_accel_ef_blended().z + GRAVITY_MSS),
@@ -263,11 +267,6 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
 #endif
         break;
 
-    case MSG_PID_TUNING:
-        CHECK_PAYLOAD_SIZE(PID_TUNING);
-        sub.send_pid_tuning(chan);
-        break;
-
     default:
         return GCS_MAVLINK::try_send_message(id);
     }

ArduSub/GCS_Mavlink.h

@@ -36,6 +36,8 @@ protected:
     bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
 
     void send_nav_controller_output() const override;
+    void send_pid_tuning() override;
+
     uint64_t capabilities() const override;
 
 private:

ArduSub/Sub.h

@@ -483,7 +483,6 @@ private:
     void send_rpm(mavlink_channel_t chan);
     void rpm_update();
 #endif
-    void send_pid_tuning(mavlink_channel_t chan);
     void Log_Write_Control_Tuning();
     void Log_Write_Performance();
     void Log_Write_Attitude();