From 3586f0e8fb1388cbebc9278f33a765736829828d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 17 Jul 2017 10:47:07 +1000
Subject: [PATCH] Rover: move handling of MAG_CAL command longs up

---
 APMrover2/GCS_Mavlink.cpp | 11 +++++------
 APMrover2/GCS_Mavlink.h   |  1 +
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index 4a7ba8ce8c..8d2f47f5db 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -1029,12 +1029,6 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
             break;
         }
 
-        case MAV_CMD_DO_START_MAG_CAL:
-        case MAV_CMD_DO_ACCEPT_MAG_CAL:
-        case MAV_CMD_DO_CANCEL_MAG_CAL:
-            result = rover.compass.handle_mag_cal_command(packet);
-            break;
-
         case MAV_CMD_NAV_SET_YAW_SPEED:
         {
             // param1 : yaw angle to adjust direction by in centidegress
@@ -1538,6 +1532,11 @@ AP_ServoRelayEvents *GCS_MAVLINK_Rover::get_servorelayevents() const
     return &rover.ServoRelayEvents;
 }
 
+Compass *GCS_MAVLINK_Rover::get_compass() const
+{
+    return &rover.compass;
+}
+
 AP_Mission *GCS_MAVLINK_Rover::get_mission()
 {
     return &rover.mission;
diff --git a/APMrover2/GCS_Mavlink.h b/APMrover2/GCS_Mavlink.h
index 0d01bde94f..a4bc7e64aa 100644
--- a/APMrover2/GCS_Mavlink.h
+++ b/APMrover2/GCS_Mavlink.h
@@ -16,6 +16,7 @@ protected:
     uint32_t telem_delay() const override;
     bool accept_packet(const mavlink_status_t &status, mavlink_message_t &msg) override;
 
+    Compass *get_compass() const override;
     AP_Mission *get_mission() override;
     AP_Rally *get_rally() const override { return nullptr; };
     AP_ServoRelayEvents *get_servorelayevents() const override;