From 4f249db8bc3e54e3aba62f1daf3f6582e5a78e49 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 1 Feb 2019 11:41:56 +1100
Subject: [PATCH] Plane: move responsibility for parachute deployment up

---
 ArduPlane/commands_logic.cpp | 33 ---------------------------------
 ArduPlane/wscript            |  1 -
 2 files changed, 34 deletions(-)

diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index db9e8e4bc8..39f3462437 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -159,12 +159,6 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
         autotune_enable(cmd.p1);
         break;
 
-#if PARACHUTE == ENABLED
-    case MAV_CMD_DO_PARACHUTE:
-        do_parachute(cmd);
-        break;
-#endif
-
 #if MOUNT == ENABLED
     // Sets the region of interest (ROI) for a sensor set or the
     // vehicle itself. This can then be used by the vehicles control
@@ -286,12 +280,6 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd)        // Ret
     case MAV_CMD_CONDITION_DISTANCE:
         return verify_within_distance();
 
-#if PARACHUTE == ENABLED
-    case MAV_CMD_DO_PARACHUTE:
-        // assume parachute was released successfully
-        return true;
-#endif
-        
     // do commands (always return true)
     case MAV_CMD_DO_CHANGE_SPEED:
     case MAV_CMD_DO_SET_HOME:
@@ -920,27 +908,6 @@ void Plane::do_set_home(const AP_Mission::Mission_Command& cmd)
     }
 }
 
-#if PARACHUTE == ENABLED
-// do_parachute - configure or release parachute
-void Plane::do_parachute(const AP_Mission::Mission_Command& cmd)
-{
-    switch (cmd.p1) {
-        case PARACHUTE_DISABLE:
-            parachute.enabled(false);
-            break;
-        case PARACHUTE_ENABLE:
-            parachute.enabled(true);
-            break;
-        case PARACHUTE_RELEASE:
-            parachute_release();
-            break;
-        default:
-            // do nothing
-            break;
-    }
-}
-#endif
-
 // start_command_callback - callback function called from ap-mission when it begins a new mission command
 //      we double check that the flight mode is AUTO to avoid the possibility of ap-mission triggering actions while we're not in AUTO mode
 bool Plane::start_command_callback(const AP_Mission::Mission_Command &cmd)
diff --git a/ArduPlane/wscript b/ArduPlane/wscript
index fde04fa377..7e9a871f2f 100644
--- a/ArduPlane/wscript
+++ b/ArduPlane/wscript
@@ -16,7 +16,6 @@ def build(bld):
             'AP_Camera',
             'AP_L1_Control',
             'AP_Navigation',
-            'AP_Parachute',
             'AP_RCMapper',
             'AP_SpdHgtControl',
             'AP_TECS',