From 65c878c06f4b87646b59d51464336121a62007b2 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 17 Aug 2021 12:52:48 +1000
Subject: [PATCH] Blimp: moved accel cal update to vehicle code

---
 Blimp/Blimp.cpp   |  1 -
 Blimp/Blimp.h     |  1 -
 Blimp/sensors.cpp | 20 --------------------
 3 files changed, 22 deletions(-)

diff --git a/Blimp/Blimp.cpp b/Blimp/Blimp.cpp
index f8b89787ba..2ce7b0cf7c 100644
--- a/Blimp/Blimp.cpp
+++ b/Blimp/Blimp.cpp
@@ -57,7 +57,6 @@ const AP_Scheduler::Task Blimp::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_InertialSensor,    &blimp.ins,                 periodic,       400,  50),
     SCHED_TASK_CLASS(AP_Scheduler,         &blimp.scheduler,           update_logging, 0.1,  75),
     SCHED_TASK_CLASS(Compass,              &blimp.compass,             cal_update,     100, 100),
-    SCHED_TASK(accel_cal_update,      10,    100),
 #if STATS_ENABLED == ENABLED
     SCHED_TASK_CLASS(AP_Stats,             &blimp.g2.stats,            update,           1, 100),
 #endif
diff --git a/Blimp/Blimp.h b/Blimp/Blimp.h
index 5ac5059295..30d15acbb0 100644
--- a/Blimp/Blimp.h
+++ b/Blimp/Blimp.h
@@ -427,7 +427,6 @@ private:
     bool rangefinder_up_ok();
     void rpm_update();
     void update_optical_flow(void);
-    void accel_cal_update(void);
     void init_proximity();
     void update_proximity();
 
diff --git a/Blimp/sensors.cpp b/Blimp/sensors.cpp
index b52366d039..441c482f5a 100644
--- a/Blimp/sensors.cpp
+++ b/Blimp/sensors.cpp
@@ -7,23 +7,3 @@ void Blimp::read_barometer(void)
 
     baro_alt = barometer.get_altitude() * 100.0f;
 }
-
-void Blimp::accel_cal_update()
-{
-    if (hal.util->get_soft_armed()) {
-        return;
-    }
-    ins.acal_update();
-    // check if new trim values, and set them
-    float trim_roll, trim_pitch;
-    if (ins.get_new_trim(trim_roll, trim_pitch)) {
-        ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
-    }
-
-#ifdef CAL_ALWAYS_REBOOT
-    if (ins.accel_cal_requires_reboot()) {
-        hal.scheduler->delay(1000);
-        hal.scheduler->reboot(false);
-    }
-#endif
-}