From b14964eb1e70b5cf793e0dec8872282d14bb9cc8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2017 12:45:51 +1000
Subject: [PATCH] Copter: move mavlink support for servo/relay up

---
 ArduCopter/GCS_Mavlink.cpp | 29 +++++------------------------
 ArduCopter/GCS_Mavlink.h   |  1 +
 2 files changed, 6 insertions(+), 24 deletions(-)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 07f71f0815..ed69898b5d 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1259,30 +1259,6 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
             }
             break;
 
-        case MAV_CMD_DO_SET_SERVO:
-            if (copter.ServoRelayEvents.do_set_servo(packet.param1, packet.param2)) {
-                result = MAV_RESULT_ACCEPTED;
-            }
-            break;
-
-        case MAV_CMD_DO_REPEAT_SERVO:
-            if (copter.ServoRelayEvents.do_repeat_servo(packet.param1, packet.param2, packet.param3, packet.param4*1000)) {
-                result = MAV_RESULT_ACCEPTED;
-            }
-            break;
-
-        case MAV_CMD_DO_SET_RELAY:
-            if (copter.ServoRelayEvents.do_set_relay(packet.param1, packet.param2)) {
-                result = MAV_RESULT_ACCEPTED;
-            }
-            break;
-
-        case MAV_CMD_DO_REPEAT_RELAY:
-            if (copter.ServoRelayEvents.do_repeat_relay(packet.param1, packet.param2, packet.param3*1000)) {
-                result = MAV_RESULT_ACCEPTED;
-            }
-            break;
-
         case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
             if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) {
                 AP_Notify::flags.firmware_update = 1;
@@ -1976,6 +1952,11 @@ AP_Mission *GCS_MAVLINK_Copter::get_mission()
     return &copter.mission;
 }
 
+AP_ServoRelayEvents *GCS_MAVLINK_Copter::get_servorelayevents() const
+{
+    return &copter.ServoRelayEvents;
+}
+
 AP_Rally *GCS_MAVLINK_Copter::get_rally() const
 {
 #if AC_RALLY == ENABLED
diff --git a/ArduCopter/GCS_Mavlink.h b/ArduCopter/GCS_Mavlink.h
index 2653858f9f..abeaae10da 100644
--- a/ArduCopter/GCS_Mavlink.h
+++ b/ArduCopter/GCS_Mavlink.h
@@ -20,6 +20,7 @@ protected:
 
     AP_Mission *get_mission() override;
     AP_Rally *get_rally() const override;
+    AP_ServoRelayEvents *get_servorelayevents() const override;
 
     uint8_t sysid_my_gcs() const override;