From c62da522599f180bd47615b2c4065f7e3c379899 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 18 Jul 2015 14:26:09 +0900
Subject: [PATCH] Copter: add gcs_send_mission_item_reached

---
 ArduCopter/Copter.h        |  1 +
 ArduCopter/GCS_Mavlink.cpp | 12 ++++++++++++
 2 files changed, 13 insertions(+)

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index ebe76847b5..3cc03b490d 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -582,6 +582,7 @@ private:
     void gcs_data_stream_send(void);
     void gcs_check_input(void);
     void gcs_send_text_P(gcs_severity severity, const prog_char_t *str);
+    void gcs_send_mission_item_reached(uint16_t seq);
     void do_erase_logs(void);
     void Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt);
     void Log_Write_AutoTuneDetails(float angle_cd, float rate_cds);
diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index bbd85a0293..16e99a39a3 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1831,3 +1831,15 @@ void Copter::gcs_send_text_fmt(const prog_char_t *fmt, ...)
         }
     }
 }
+
+/*
+ *  send mission_item_reached message to all GCSs
+ */
+void Copter::gcs_send_mission_item_reached(uint16_t seq)
+{
+    for (uint8_t i=0; i<num_gcs; i++) {
+        if (gcs[i].initialised) {
+            gcs[i].send_mission_item_reached(seq);
+        }
+    }
+}