From b46379b3f3676a722a25ac351c65e1cc5859d57f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 21 Aug 2017 16:09:04 +1000
Subject: [PATCH] Tracker: move data stream send up

---
 AntennaTracker/GCS_Mavlink.cpp | 95 ++++++++++++++++------------------
 AntennaTracker/GCS_Mavlink.h   |  2 -
 2 files changed, 44 insertions(+), 53 deletions(-)

diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index 0fd38603bf..7cb0344e64 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@@ -315,58 +315,51 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
     AP_GROUPEND
 };
 
-void
-GCS_MAVLINK_Tracker::data_stream_send(void)
-{
-    send_queued_parameters();
+static const uint8_t STREAM_RAW_SENSORS_msgs[] = {
+    MSG_RAW_IMU1,  // RAW_IMU, SCALED_IMU2, SCALED_IMU3
+    MSG_RAW_IMU2,  // SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3
+    MSG_RAW_IMU3  // SENSOR_OFFSETS
+};
+static const uint8_t STREAM_EXTENDED_STATUS_msgs[] = {
+    MSG_EXTENDED_STATUS1, // SYS_STATUS, POWER_STATUS
+    MSG_EXTENDED_STATUS2, // MEMINFO
+    MSG_NAV_CONTROLLER_OUTPUT,
+    MSG_GPS_RAW,
+    MSG_GPS_RTK,
+    MSG_GPS2_RAW,
+    MSG_GPS2_RTK,
+};
+static const uint8_t STREAM_POSITION_msgs[] = {
+    MSG_LOCATION,
+    MSG_LOCAL_POSITION
+};
+static const uint8_t STREAM_RAW_CONTROLLER_msgs[] = {
+    MSG_SERVO_OUTPUT_RAW,
+};
+static const uint8_t STREAM_RC_CHANNELS_msgs[] = {
+    MSG_RADIO_IN
+};
+static const uint8_t STREAM_EXTRA1_msgs[] = {
+    MSG_ATTITUDE,
+};
+static const uint8_t STREAM_EXTRA3_msgs[] = {
+    MSG_AHRS,
+    MSG_HWSTATUS,
+    MSG_SIMSTATE, // SIMSTATE, AHRS2
+    MSG_MAG_CAL_REPORT,
+    MSG_MAG_CAL_PROGRESS,
+};
 
-    if (hal.scheduler->in_delay_callback()) {
-        // don't send any other stream types while in the delay callback
-        return;
-    }
-
-    if (stream_trigger(STREAM_RAW_SENSORS)) {
-        send_message(MSG_RAW_IMU1);
-        send_message(MSG_RAW_IMU2);
-        send_message(MSG_RAW_IMU3);
-    }
-
-    if (stream_trigger(STREAM_EXTENDED_STATUS)) {
-        send_message(MSG_EXTENDED_STATUS1);
-        send_message(MSG_EXTENDED_STATUS2);
-        send_message(MSG_NAV_CONTROLLER_OUTPUT);
-        send_message(MSG_GPS_RAW);
-        send_message(MSG_GPS_RTK);
-        send_message(MSG_GPS2_RAW);
-        send_message(MSG_GPS2_RTK);
-    }
-
-    if (stream_trigger(STREAM_POSITION)) {
-        send_message(MSG_LOCATION);
-        send_message(MSG_LOCAL_POSITION);
-    }
-
-    if (stream_trigger(STREAM_RAW_CONTROLLER)) {
-        send_message(MSG_SERVO_OUTPUT_RAW);
-    }
-
-    if (stream_trigger(STREAM_RC_CHANNELS)) {
-        send_message(MSG_RADIO_IN);
-        send_message(MSG_SERVO_OUTPUT_RAW);
-    }
-
-    if (stream_trigger(STREAM_EXTRA1)) {
-        send_message(MSG_ATTITUDE);
-    }
-
-    if (stream_trigger(STREAM_EXTRA3)) {
-        send_message(MSG_AHRS);
-        send_message(MSG_HWSTATUS);
-        send_message(MSG_SIMSTATE);
-        send_message(MSG_MAG_CAL_REPORT);
-        send_message(MSG_MAG_CAL_PROGRESS);
-    }
-}
+const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
+    MAV_STREAM_ENTRY(STREAM_RAW_SENSORS),
+    MAV_STREAM_ENTRY(STREAM_EXTENDED_STATUS),
+    MAV_STREAM_ENTRY(STREAM_POSITION),
+    MAV_STREAM_ENTRY(STREAM_RAW_CONTROLLER),
+    MAV_STREAM_ENTRY(STREAM_RC_CHANNELS),
+    MAV_STREAM_ENTRY(STREAM_EXTRA1),
+    MAV_STREAM_ENTRY(STREAM_EXTRA3),
+    MAV_STREAM_TERMINATOR // must have this at end of stream_entries
+};
 
 /*
   We eavesdrop on MAVLINK_MSG_ID_GLOBAL_POSITION_INT and
diff --git a/AntennaTracker/GCS_Mavlink.h b/AntennaTracker/GCS_Mavlink.h
index 6d5d1fabbb..c562eaa947 100644
--- a/AntennaTracker/GCS_Mavlink.h
+++ b/AntennaTracker/GCS_Mavlink.h
@@ -7,8 +7,6 @@ class GCS_MAVLINK_Tracker : public GCS_MAVLINK
 
 public:
 
-    void data_stream_send(void) override;
-
 protected:
 
     // telem_delay is not used by Tracker but is pure virtual, thus