Plane: move handling of MAV_CMD_DO_GRIPPER up

ArduPlane/GCS_Mavlink.cpp

@@ -1163,31 +1163,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
             }
             break;
 
-#if GRIPPER_ENABLED == ENABLED
-        case MAV_CMD_DO_GRIPPER:
-            // param1 : gripper number (ignored)
-            // param2 : action (0=release, 1=grab). See GRIPPER_ACTIONS enum.
-            if(!plane.g2.gripper.enabled()) {
-                result = MAV_RESULT_FAILED;
-            } else {
-                result = MAV_RESULT_ACCEPTED;
-                switch ((uint8_t)packet.param2) {
-                    case GRIPPER_ACTION_RELEASE:
-                        plane.g2.gripper.release();
-                        gcs().send_text(MAV_SEVERITY_INFO, "Gripper Released");
-                        break;
-                    case GRIPPER_ACTION_GRAB:
-                        plane.g2.gripper.grab();
-                        gcs().send_text(MAV_SEVERITY_INFO, "Gripper Grabbed");
-                        break;
-                    default:
-                        result = MAV_RESULT_FAILED;
-                        break;
-                }
-            }
-            break;
-#endif
-
         default:
             result = handle_command_long_message(packet);
             break;

ArduPlane/make.inc

@@ -57,5 +57,4 @@ LIBRARIES += AP_Landing
 LIBRARIES += AP_Beacon
 LIBRARIES += PID
 LIBRARIES += AP_Soaring
-LIBRARIES += AP_Gripper
 LIBRARIES += AP_Devo_Telem

ArduPlane/wscript

@@ -31,7 +31,6 @@ def build(bld):
             'AP_Beacon',
             'PID',
             'AP_Soaring',
-            'AP_Gripper',
             'AP_Devo_Telem',
         ],
     )