From 18670d681e8343e06bc6405a680fac340c544c00 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 28 Jan 2020 12:34:25 +1100
Subject: [PATCH] Copter: let AP_Vehicle handle loop()

---
 ArduCopter/Copter.cpp |  7 -------
 ArduCopter/Copter.h   | 14 +-------------
 ArduCopter/system.cpp |  3 ---
 3 files changed, 1 insertion(+), 23 deletions(-)

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index 0819e23e0a..130bc1df87 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -220,13 +220,6 @@ void Copter::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
 
 constexpr int8_t Copter::_failsafe_priorities[7];
 
-void Copter::loop()
-{
-    scheduler.loop();
-    G_Dt = scheduler.get_last_loop_time_s();
-}
-
-
 // Main loop - 400hz
 void Copter::fast_loop()
 {
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 393082ebb5..11c62d30e3 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -56,7 +56,6 @@
 #include <AC_WPNav/AC_Loiter.h>
 #include <AC_WPNav/AC_Circle.h>          // circle navigation library
 #include <AP_Declination/AP_Declination.h>     // ArduPilot Mega Declination Helper Library
-#include <AP_Scheduler/AP_Scheduler.h>       // main loop scheduler
 #include <AP_RCMapper/AP_RCMapper.h>        // RC input mapping library
 #include <AP_BattMonitor/AP_BattMonitor.h>     // Battery monitor library
 #include <AP_LandingGear/AP_LandingGear.h>     // Landing Gear library
@@ -234,9 +233,6 @@ public:
 
     Copter(void);
 
-    // HAL::Callbacks implementation.
-    void loop() override;
-
 private:
 
     // key aircraft parameters passed to multiple libraries
@@ -246,9 +242,6 @@ private:
     Parameters g;
     ParametersG2 g2;
 
-    // main loop scheduler
-    AP_Scheduler scheduler{FUNCTOR_BIND_MEMBER(&Copter::fast_loop, void)};
-
     // used to detect MAVLink acks from GCS to stop compassmot
     uint8_t command_ack_counter;
 
@@ -458,11 +451,6 @@ private:
     // Current location of the vehicle (altitude is relative to home)
     Location current_loc;
 
-    // IMU variables
-    // Integration time (in seconds) for the gyros (DCM algorithm)
-    // Updated with the fast loop
-    float G_Dt;
-
     // Inertial Navigation
     AP_InertialNav_NavEKF inertial_nav;
 
@@ -641,7 +629,7 @@ private:
     void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
                              uint8_t &task_count,
                              uint32_t &log_bit) override;
-    void fast_loop();
+    void fast_loop() override;
     void rc_loop();
     void throttle_loop();
     void update_batt_compass(void);
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index f09d5f4297..fdbf16f86e 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -15,9 +15,6 @@ static void failsafe_check_static()
 
 void Copter::init_ardupilot()
 {
-    // time per loop - this gets updated in the main loop() based on
-    // actual loop rate
-    G_Dt = 1.0 / scheduler.get_loop_rate_hz();
 
 #if STATS_ENABLED == ENABLED
     // initialise stats module