From 46ab198ebc442b951fd7627cf7a8cd7fcf54576f Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Wed, 20 Jan 2016 13:25:23 +0900
Subject: [PATCH] AP_MotorsSingle: remove output_armed_not_stabilizing

---
 libraries/AP_Motors/AP_MotorsSingle.cpp | 51 -------------------------
 libraries/AP_Motors/AP_MotorsSingle.h   |  1 -
 2 files changed, 52 deletions(-)

diff --git a/libraries/AP_Motors/AP_MotorsSingle.cpp b/libraries/AP_Motors/AP_MotorsSingle.cpp
index 02009d9e35..66c25b41b9 100644
--- a/libraries/AP_Motors/AP_MotorsSingle.cpp
+++ b/libraries/AP_Motors/AP_MotorsSingle.cpp
@@ -133,58 +133,7 @@ uint16_t AP_MotorsSingle::get_motor_mask()
     return rc_map_mask(1U << 0 | 1U << 1 | 1U << 2 | 1U << 3 | 1U << 6);
 }
 
-void AP_MotorsSingle::output_armed_not_stabilizing()
-{
-    int16_t throttle_radio_output;                                  // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
-    int16_t out_min = _throttle_radio_min + _min_throttle;
-
-    // initialize limits flags
-    limit.roll_pitch = true;
-    limit.yaw = true;
-    limit.throttle_lower = false;
-    limit.throttle_upper = false;
-
-    int16_t thr_in_min = rel_pwm_to_thr_range(_spin_when_armed_ramped);
-    if (_throttle_control_input <= thr_in_min) {
-        _throttle_control_input = thr_in_min;
-        limit.throttle_lower = true;
-    }
-    if (_throttle_control_input >= _max_throttle) {
-        _throttle_control_input = _max_throttle;
-        limit.throttle_upper = true;
-    }
-
-    throttle_radio_output = calc_throttle_radio_output();
-
-    // front servo
-    _servo1.servo_out = 0;
-    // right servo
-    _servo2.servo_out = 0;
-    // rear servo
-    _servo3.servo_out = 0;
-    // left servo
-    _servo4.servo_out = 0;
-
-    _servo1.calc_pwm();
-    _servo2.calc_pwm();
-    _servo3.calc_pwm();
-    _servo4.calc_pwm();
-
-    if (throttle_radio_output >= out_min) {
-        throttle_radio_output = apply_thrust_curve_and_volt_scaling(throttle_radio_output, out_min, _throttle_radio_max);
-    }
-
-    hal.rcout->cork();
-    rc_write(AP_MOTORS_MOT_1, _servo1.radio_out);
-    rc_write(AP_MOTORS_MOT_2, _servo2.radio_out);
-    rc_write(AP_MOTORS_MOT_3, _servo3.radio_out);
-    rc_write(AP_MOTORS_MOT_4, _servo4.radio_out);
-    rc_write(AP_MOTORS_MOT_7, throttle_radio_output);
-    hal.rcout->push();
-}
-
 // sends commands to the motors
-// TODO pull code that is common to output_armed_not_stabilizing into helper functions
 void AP_MotorsSingle::output_armed_stabilizing()
 {
     int16_t throttle_radio_output;                                  // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
diff --git a/libraries/AP_Motors/AP_MotorsSingle.h b/libraries/AP_Motors/AP_MotorsSingle.h
index 8c830cec0f..8d8ae40024 100644
--- a/libraries/AP_Motors/AP_MotorsSingle.h
+++ b/libraries/AP_Motors/AP_MotorsSingle.h
@@ -60,7 +60,6 @@ public:
 protected:
     // output - sends commands to the motors
     void                output_armed_stabilizing();
-    void                output_armed_not_stabilizing();
     void                output_disarmed();
 
     AP_Int8             _rev_roll;      // REV Roll feedback