From 72b821d9da1d1b37ff93e6292be3deee0ba6b932 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 22 Oct 2021 22:49:46 +0100
Subject: [PATCH] Rover: remove trim radio functionality

---
 Rover/GCS_Mavlink.cpp |  8 +-------
 Rover/Rover.h         |  1 -
 Rover/radio.cpp       | 18 ------------------
 3 files changed, 1 insertion(+), 26 deletions(-)

diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
index 82e9ce2684..14da530745 100644
--- a/Rover/GCS_Mavlink.cpp
+++ b/Rover/GCS_Mavlink.cpp
@@ -572,13 +572,7 @@ void GCS_MAVLINK_Rover::handle_change_alt_request(AP_Mission::Mission_Command &c
 
 MAV_RESULT GCS_MAVLINK_Rover::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
 {
-    if (is_equal(packet.param4, 1.0f)) {
-        if (rover.trim_radio()) {
-            return MAV_RESULT_ACCEPTED;
-        } else {
-            return MAV_RESULT_FAILED;
-        }
-    } else if (is_equal(packet.param6, 1.0f)) {
+    if (is_equal(packet.param6, 1.0f)) {
         if (rover.g2.windvane.start_direction_calibration()) {
             return MAV_RESULT_ACCEPTED;
         } else {
diff --git a/Rover/Rover.h b/Rover/Rover.h
index c0e775d4ec..35187b7e94 100644
--- a/Rover/Rover.h
+++ b/Rover/Rover.h
@@ -345,7 +345,6 @@ private:
     void rudder_arm_disarm_check();
     void read_radio();
     void radio_failsafe_check(uint16_t pwm);
-    bool trim_radio();
 
     // sensors.cpp
     void update_compass(void);
diff --git a/Rover/radio.cpp b/Rover/radio.cpp
index 2e89b651e7..5c3ca019fc 100644
--- a/Rover/radio.cpp
+++ b/Rover/radio.cpp
@@ -154,21 +154,3 @@ void Rover::radio_failsafe_check(uint16_t pwm)
     }
     failsafe_trigger(FAILSAFE_EVENT_THROTTLE, "Radio", failed);
 }
-
-bool Rover::trim_radio()
-{
-    if (!rc().has_valid_input()) {
-        // can't trim without valid input
-        return false;
-    }
-
-    // Store control surface trim values
-    // ---------------------------------
-    if ((channel_steer->get_radio_in() > 1400) && (channel_steer->get_radio_in() < 1600)) {
-        channel_steer->set_and_save_radio_trim(channel_steer->get_radio_in());
-    } else {
-        return false;
-    }
-
-    return true;
-}