From 60aaabd93a5c3ba06e3efa725c13347624b00723 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 17 Mar 2018 22:56:14 +1100
Subject: [PATCH] Tracker: move common calibration functions up

---
 AntennaTracker/GCS_Mavlink.cpp | 39 ----------------------------------
 1 file changed, 39 deletions(-)

diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index e18d185f10..425c47a3c6 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@@ -448,14 +448,6 @@ uint8_t GCS_MAVLINK_Tracker::sysid_my_gcs() const
 
 MAV_RESULT GCS_MAVLINK_Tracker::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
 {
-    if (is_equal(packet.param1,1.0f)) {
-        tracker.ins.init_gyro();
-        if (!tracker.ins.gyro_calibrated_ok_all()) {
-            return MAV_RESULT_FAILED;
-        }
-        tracker.ahrs.reset_gyro_drift();
-        return MAV_RESULT_ACCEPTED;
-    }
 
     if (is_equal(packet.param3,1.0f)) {
         tracker.init_barometer(false);
@@ -463,37 +455,6 @@ MAV_RESULT GCS_MAVLINK_Tracker::_handle_command_preflight_calibration(const mavl
         tracker.nav_status.need_altitude_calibration = true;
         return MAV_RESULT_ACCEPTED;
     }
-    if (is_equal(packet.param4,1.0f)) {
-        // Can't trim radio
-        return MAV_RESULT_UNSUPPORTED;
-    }
-
-    if (is_equal(packet.param5,1.0f)) {
-        // start with gyro calibration
-        tracker.ins.init_gyro();
-        // reset ahrs gyro bias
-        if (!tracker.ins.gyro_calibrated_ok_all()) {
-            return MAV_RESULT_FAILED;
-        }
-        tracker.ahrs.reset_gyro_drift();
-        // start accel cal
-        tracker.ins.acal_init();
-        tracker.ins.get_acal()->start(this);
-        return MAV_RESULT_ACCEPTED;
-    }
-
-    if (is_equal(packet.param5,2.0f)) {
-        // start with gyro calibration
-        tracker.ins.init_gyro();
-        // accel trim
-        float trim_roll, trim_pitch;
-        if (!tracker.ins.calibrate_trim(trim_roll, trim_pitch)) {
-            return MAV_RESULT_FAILED;
-        }
-        // reset ahrs's trim to suggested values from calibration routine
-        tracker.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
-        return MAV_RESULT_ACCEPTED;
-    }
 
     return GCS_MAVLINK::_handle_command_preflight_calibration(packet);
 }