From 77718b1611d3b7fb79f4e0ba56dca623e9cddb5c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 9 Jun 2021 21:31:34 +1000
Subject: [PATCH] AP_Airspeed: remove HIL support

---
 libraries/AP_Airspeed/AP_Airspeed.cpp | 15 ---------------
 libraries/AP_Airspeed/AP_Airspeed.h   | 11 -----------
 2 files changed, 26 deletions(-)

diff --git a/libraries/AP_Airspeed/AP_Airspeed.cpp b/libraries/AP_Airspeed/AP_Airspeed.cpp
index e8685f1a5e..5aa3b5a1b9 100644
--- a/libraries/AP_Airspeed/AP_Airspeed.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed.cpp
@@ -395,10 +395,6 @@ float AP_Airspeed::get_pressure(uint8_t i)
     if (!enabled(i)) {
         return 0;
     }
-    if (state[i].hil_set) {
-        state[i].healthy = true;
-        return state[i].hil_pressure;
-    }
     float pressure = 0;
     if (sensor[i]) {
         state[i].healthy = sensor[i]->get_differential_pressure(pressure);
@@ -625,17 +621,6 @@ void AP_Airspeed::Log_Airspeed()
     }
 }
 
-void AP_Airspeed::setHIL(float airspeed, float diff_pressure, float temperature)
-{
-    state[0].raw_airspeed = airspeed;
-    state[0].airspeed = airspeed;
-    state[0].last_pressure = diff_pressure;
-    state[0].last_update_ms = AP_HAL::millis();
-    state[0].hil_pressure = diff_pressure;
-    state[0].hil_set = true;
-    state[0].healthy = true;
-}
-
 bool AP_Airspeed::use(uint8_t i) const
 {
     if (!enabled(i) || !param[i].use) {
diff --git a/libraries/AP_Airspeed/AP_Airspeed.h b/libraries/AP_Airspeed/AP_Airspeed.h
index d975e0ac86..5017a9dd47 100644
--- a/libraries/AP_Airspeed/AP_Airspeed.h
+++ b/libraries/AP_Airspeed/AP_Airspeed.h
@@ -105,11 +105,6 @@ public:
     }
     bool enabled(void) const { return enabled(primary); }
 
-    // used by HIL to set the airspeed
-    void set_HIL(float airspeed) {
-        state[primary].airspeed = airspeed;
-    }
-
     // return the differential pressure in Pascal for the last airspeed reading
     float get_differential_pressure(uint8_t i) const {
         return state[i].last_pressure;
@@ -132,14 +127,10 @@ public:
     // return true if all enabled sensors are healthy
     bool all_healthy(void) const;
     
-    void setHIL(float pressure) { state[0].healthy=state[0].hil_set=true; state[0].hil_pressure=pressure; }
-
     // return time in ms of last update
     uint32_t last_update_ms(uint8_t i) const { return state[i].last_update_ms; }
     uint32_t last_update_ms(void) const { return last_update_ms(primary); }
 
-    void setHIL(float airspeed, float diff_pressure, float temperature);
-
     static const struct AP_Param::GroupInfo var_info[];
 
     enum pitot_tube_order { PITOT_TUBE_ORDER_POSITIVE = 0,
@@ -217,11 +208,9 @@ private:
         float	last_pressure;
         float   filtered_pressure;
         float	corrected_pressure;
-        float   hil_pressure;
         uint32_t last_update_ms;
         bool use_zero_offset;
         bool	healthy;
-        bool	hil_set;
 
         // state of runtime calibration
         struct {