From 228d7b676d23a1ddbdeb92db6d92d38931793ca8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 1 Feb 2019 11:16:58 +1100
Subject: [PATCH] Copter: move responsibility for parachute deployment up

---
 ArduCopter/crash_check.cpp |  4 ----
 ArduCopter/mode_auto.cpp   | 30 ------------------------------
 ArduCopter/wscript         |  1 -
 3 files changed, 35 deletions(-)

diff --git a/ArduCopter/crash_check.cpp b/ArduCopter/crash_check.cpp
index 98a66ce34a..6ba3c90ece 100644
--- a/ArduCopter/crash_check.cpp
+++ b/ArduCopter/crash_check.cpp
@@ -209,10 +209,6 @@ void Copter::parachute_check()
 // parachute_release - trigger the release of the parachute, disarm the motors and notify the user
 void Copter::parachute_release()
 {
-    // send message to gcs and dataflash
-    gcs().send_text(MAV_SEVERITY_INFO,"Parachute: Released");
-    Log_Write_Event(DATA_PARACHUTE_RELEASED);
-
     // disarm motors
     init_disarm_motors();
 
diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index a5aef99b81..5ef019fbf2 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -485,12 +485,6 @@ bool Copter::ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
 #endif //AC_FENCE == ENABLED
         break;
 
-#if PARACHUTE == ENABLED
-    case MAV_CMD_DO_PARACHUTE:                          // Mission command to configure or release parachute
-        do_parachute(cmd);
-        break;
-#endif
-
 #if NAV_GUIDED == ENABLED
     case MAV_CMD_DO_GUIDED_LIMITS:                      // 220  accept guided mode limits
         do_guided_limits(cmd);
@@ -679,7 +673,6 @@ bool Copter::ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
     case MAV_CMD_DO_SET_HOME:
     case MAV_CMD_DO_SET_ROI:
     case MAV_CMD_DO_MOUNT_CONTROL:
-    case MAV_CMD_DO_PARACHUTE:  // assume parachute was released successfully
     case MAV_CMD_DO_GUIDED_LIMITS:
     case MAV_CMD_DO_FENCE_ENABLE:
     case MAV_CMD_DO_WINCH:
@@ -1393,29 +1386,6 @@ void Copter::ModeAuto::do_mount_control(const AP_Mission::Mission_Command& cmd)
 #endif
 }
 
-#if PARACHUTE == ENABLED
-// do_parachute - configure or release parachute
-void Copter::ModeAuto::do_parachute(const AP_Mission::Mission_Command& cmd)
-{
-    switch (cmd.p1) {
-        case PARACHUTE_DISABLE:
-            copter.parachute.enabled(false);
-            Log_Write_Event(DATA_PARACHUTE_DISABLED);
-            break;
-        case PARACHUTE_ENABLE:
-            copter.parachute.enabled(true);
-            Log_Write_Event(DATA_PARACHUTE_ENABLED);
-            break;
-        case PARACHUTE_RELEASE:
-            copter.parachute_release();
-            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)
diff --git a/ArduCopter/wscript b/ArduCopter/wscript
index f23d9cd1ba..d8fbcb4b21 100644
--- a/ArduCopter/wscript
+++ b/ArduCopter/wscript
@@ -19,7 +19,6 @@ def build(bld):
             'AP_IRLock',
             'AP_InertialNav',
             'AP_Motors',
-            'AP_Parachute',
             'AP_RCMapper',
             'AP_Avoidance',
             'AP_AdvancedFailsafe',