From 8a9a856de8ebe12e2ece567c351941f5ea005791 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 3 May 2022 11:49:56 +1000
Subject: [PATCH] ArduSub: move logging of compass ERR flags into AP_Compass

---
 ArduSub/ArduSub.cpp |  2 --
 ArduSub/Log.cpp     | 15 ---------------
 ArduSub/Sub.cpp     |  3 ---
 ArduSub/Sub.h       |  1 -
 4 files changed, 21 deletions(-)

diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index 08f47afe73..edfc63d4e0 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -68,8 +68,6 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
     // camera mount's fast update
     FAST_TASK_CLASS(AP_Mount, &sub.camera_mount, update_fast),
 #endif
-    // log sensor health
-    FAST_TASK(Log_Sensor_Health),
 
     SCHED_TASK(fifty_hz_loop,         50,     75,   3),
     SCHED_TASK_CLASS(AP_GPS, &sub.gps, update, 50, 200,   6),
diff --git a/ArduSub/Log.cpp b/ArduSub/Log.cpp
index 1e103e9e71..c070163e47 100644
--- a/ArduSub/Log.cpp
+++ b/ArduSub/Log.cpp
@@ -168,20 +168,6 @@ void Sub::Log_Write_Data(LogDataID id, float value)
     }
 }
 
-// logs when compass becomes unhealthy
-void Sub::Log_Sensor_Health()
-{
-    if (!should_log(MASK_LOG_ANY)) {
-        return;
-    }
-
-    // check compass
-    if (sensor_health.compass != compass.healthy()) {
-        sensor_health.compass = compass.healthy();
-        AP::logger().Write_Error(LogErrorSubsystem::COMPASS, (sensor_health.compass ? LogErrorCode::ERROR_RESOLVED : LogErrorCode::UNHEALTHY));
-    }
-}
-
 struct PACKED log_GuidedTarget {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -320,7 +306,6 @@ void Sub::Log_Write_Data(LogDataID id, uint32_t value) {}
 void Sub::Log_Write_Data(LogDataID id, int16_t value) {}
 void Sub::Log_Write_Data(LogDataID id, uint16_t value) {}
 void Sub::Log_Write_Data(LogDataID id, float value) {}
-void Sub::Log_Sensor_Health() {}
 void Sub::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
 void Sub::Log_Write_Vehicle_Startup_Messages() {}
 
diff --git a/ArduSub/Sub.cpp b/ArduSub/Sub.cpp
index fbc32e7e1a..b3e055f1eb 100644
--- a/ArduSub/Sub.cpp
+++ b/ArduSub/Sub.cpp
@@ -39,9 +39,6 @@ Sub::Sub()
           circle_nav(inertial_nav, ahrs_view, pos_control),
           param_loader(var_info)
 {
-    // init sensor error logging flags
-    sensor_health.compass = true;
-
 #if CONFIG_HAL_BOARD != HAL_BOARD_SITL
     failsafe.pilot_input = true;
 #endif
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 91745bfad9..2a061b8474 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -410,7 +410,6 @@ private:
     void Log_Write_Data(LogDataID id, int16_t value);
     void Log_Write_Data(LogDataID id, uint16_t value);
     void Log_Write_Data(LogDataID id, float value);
-    void Log_Sensor_Health();
     void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target);
     void Log_Write_Vehicle_Startup_Messages();
     void load_parameters(void) override;