From a254ee75983fc8a95dcc467511742484c90305ff Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Sun, 10 Apr 2016 15:02:45 -0700
Subject: [PATCH] Add Vehicle::sendMessageOnPriorityLink

---
 src/Vehicle/Vehicle.h | 4 ++++
 src/uas/UAS.cc        | 8 ++++----
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 119d2d4..94d0322 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -406,6 +406,10 @@ public:
     /// @return true: message sent, false: Link no longer connected
     bool sendMessageOnLink(LinkInterface* link, mavlink_message_t message);
 
+    /// Sends a message to the priority link
+    /// @return true: message sent, false: Link no longer connected
+    bool sendMessageOnPriorityLink(mavlink_message_t message) { return sendMessageOnLink(priorityLink(), message); }
+
     /// Sends the specified messages multiple times to the vehicle in order to attempt to
     /// guarantee that it makes it to the vehicle.
     void sendMessageMultiple(mavlink_message_t message);
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index f1c0e52..74475b0 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -846,7 +846,7 @@ void UAS::startCalibration(UASInterface::StartCalibrationType calType)
                                   accelCal,                         // accel cal
                                   airspeedCal,                      // airspeed cal
                                   escCal);                          // esc cal
-    _vehicle->sendMessage(msg);
+    _vehicle->sendMessageOnPriorityLink(msg);
 }
 
 void UAS::stopCalibration(void)
@@ -870,7 +870,7 @@ void UAS::stopCalibration(void)
                                   0,                                // accel cal
                                   0,                                // airspeed cal
                                   0);                               // unused
-    _vehicle->sendMessage(msg);
+    _vehicle->sendMessageOnPriorityLink(msg);
 }
 
 void UAS::startBusConfig(UASInterface::StartBusConfigType calType)
@@ -905,7 +905,7 @@ void UAS::startBusConfig(UASInterface::StartBusConfigType calType)
                                   0,
                                   0,
                                   0);
-    _vehicle->sendMessage(msg);
+    _vehicle->sendMessageOnPriorityLink(msg);
 }
 
 void UAS::stopBusConfig(void)
@@ -929,7 +929,7 @@ void UAS::stopBusConfig(void)
                                   0,
                                   0,
                                   0);
-    _vehicle->sendMessage(msg);
+    _vehicle->sendMessageOnPriorityLink(msg);
 }
 
 /**