From 87a3fcdd0255a35e5f5ebcc82d1f58de58ee4bd6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 20 Jun 2018 10:29:34 +1000
Subject: [PATCH] Rover: remove usb-mux checking

Nobody ever uses the result from this
---
 APMrover2/APMrover2.cpp   |  1 -
 APMrover2/GCS_Mavlink.cpp |  1 -
 APMrover2/Rover.h         |  4 ----
 APMrover2/system.cpp      | 16 ----------------
 4 files changed, 22 deletions(-)

diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index b887ab39fe..616e6db508 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -66,7 +66,6 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
     SCHED_TASK(read_aux_switch,        10,    200),
     SCHED_TASK_CLASS(AP_BattMonitor,      &rover.battery,          read,           10,  300),
     SCHED_TASK_CLASS(AP_ServoRelayEvents, &rover.ServoRelayEvents, update_events,  50,  200),
-    SCHED_TASK(check_usb_mux,           3,    200),
 #if MOUNT == ENABLED
     SCHED_TASK_CLASS(AP_Mount,            &rover.camera_mount,     update,         50,  200),
 #endif
diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index 8d86f90e75..15e2b2be1a 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -1222,7 +1222,6 @@ void Rover::mavlink_delay_cb()
         last_5s = tnow;
         gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM");
     }
-    check_usb_mux();
 
     DataFlash.EnableWrites(true);
 }
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index 5d260bb062..0079c37cde 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -231,9 +231,6 @@ private:
     // true if initialisation has completed
     bool initialised;
 
-    // if USB is connected
-    bool usb_connected;
-
     // This is the state of the flight control system
     // There are multiple states defined such as MANUAL, AUTO, ...
     Mode *control_mode;
@@ -525,7 +522,6 @@ private:
     bool set_mode(Mode &new_mode, mode_reason_t reason);
     bool mavlink_set_mode(uint8_t mode);
     void startup_INS_ground(void);
-    void check_usb_mux(void);
     void print_mode(AP_HAL::BetterStream *port, uint8_t mode);
     void notify_mode(const Mode *new_mode);
     uint8_t check_digital_pin(uint8_t pin);
diff --git a/APMrover2/system.cpp b/APMrover2/system.cpp
index b56bd5ffed..aba01fad3b 100644
--- a/APMrover2/system.cpp
+++ b/APMrover2/system.cpp
@@ -70,11 +70,6 @@ void Rover::init_ardupilot()
     // init baro before we start the GCS, so that the CLI baro test works
     barometer.init();
 
-    // we start by assuming USB connected, as we initialed the serial
-    // port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
-    usb_connected = true;
-    check_usb_mux();
-
     // setup telem slots with serial ports
     gcs().setup_uarts(serial_manager);
 
@@ -288,17 +283,6 @@ void Rover::startup_INS_ground(void)
     ahrs.reset();
 }
 
-void Rover::check_usb_mux(void)
-{
-    bool usb_check = hal.gpio->usb_connected();
-    if (usb_check == usb_connected) {
-        return;
-    }
-
-    // the user has switched to/from the telemetry port
-    usb_connected = usb_check;
-}
-
 // update notify with mode change
 void Rover::notify_mode(const Mode *mode)
 {