From 1eec264d6c395295a20a0692f17690c678cb3564 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 23 Oct 2018 15:57:01 +1100
Subject: [PATCH] Copter: mission library handles gripper

---
 ArduCopter/mode.h        |  3 ---
 ArduCopter/mode_auto.cpp | 28 ----------------------------
 2 files changed, 31 deletions(-)

diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index 3770281089..e609c2eb5d 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -378,9 +378,6 @@ private:
 #if PARACHUTE == ENABLED
     void do_parachute(const AP_Mission::Mission_Command& cmd);
 #endif
-#if GRIPPER_ENABLED == ENABLED
-    void do_gripper(const AP_Mission::Mission_Command& cmd);
-#endif
 #if WINCH_ENABLED == ENABLED
     void do_winch(const AP_Mission::Mission_Command& cmd);
 #endif
diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index fa2561c333..cf33034fca 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -519,12 +519,6 @@ bool Copter::ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
         break;
 #endif
 
-#if GRIPPER_ENABLED == ENABLED
-    case MAV_CMD_DO_GRIPPER:                            // Mission command to control gripper
-        do_gripper(cmd);
-        break;
-#endif
-
 #if NAV_GUIDED == ENABLED
     case MAV_CMD_DO_GUIDED_LIMITS:                      // 220  accept guided mode limits
         do_guided_limits(cmd);
@@ -714,7 +708,6 @@ bool Copter::ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
     case MAV_CMD_DO_DIGICAM_CONTROL:
     case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
     case MAV_CMD_DO_PARACHUTE:  // assume parachute was released successfully
-    case MAV_CMD_DO_GRIPPER:
     case MAV_CMD_DO_GUIDED_LIMITS:
     case MAV_CMD_DO_FENCE_ENABLE:
     case MAV_CMD_DO_WINCH:
@@ -1381,27 +1374,6 @@ void Copter::ModeAuto::do_parachute(const AP_Mission::Mission_Command& cmd)
 }
 #endif
 
-#if GRIPPER_ENABLED == ENABLED
-// do_gripper - control gripper
-void Copter::ModeAuto::do_gripper(const AP_Mission::Mission_Command& cmd)
-{
-    // Note: we ignore the gripper num parameter because we only support one gripper
-    switch (cmd.content.gripper.action) {
-        case GRIPPER_ACTION_RELEASE:
-            g2.gripper.release();
-            Log_Write_Event(DATA_GRIPPER_RELEASE);
-            break;
-        case GRIPPER_ACTION_GRAB:
-            g2.gripper.grab();
-            Log_Write_Event(DATA_GRIPPER_GRAB);
-            break;
-        default:
-            // do nothing
-            break;
-    }
-}
-#endif
-
 #if WINCH_ENABLED == ENABLED
 // control winch based on mission command
 void Copter::ModeAuto::do_winch(const AP_Mission::Mission_Command& cmd)