From a22af31a08b20fc36fe071ca5b9279f821862e9c Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 17 Sep 2022 09:28:12 +0900
Subject: [PATCH] AP_Mount: remove set_mode overrides

The mode state is local to the driver and does not depend upon successful communication with the gimbal
---
 libraries/AP_Mount/AP_Mount_Backend.h          |  2 +-
 libraries/AP_Mount/AP_Mount_SToRM32.cpp        | 12 ------------
 libraries/AP_Mount/AP_Mount_SToRM32.h          |  3 ---
 libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp | 12 ------------
 libraries/AP_Mount/AP_Mount_SToRM32_serial.h   |  3 ---
 libraries/AP_Mount/AP_Mount_SoloGimbal.cpp     | 12 ------------
 libraries/AP_Mount/AP_Mount_SoloGimbal.h       |  3 ---
 7 files changed, 1 insertion(+), 46 deletions(-)

diff --git a/libraries/AP_Mount/AP_Mount_Backend.h b/libraries/AP_Mount/AP_Mount_Backend.h
index ba1a22d2c7..b9dedcaf88 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.h
+++ b/libraries/AP_Mount/AP_Mount_Backend.h
@@ -53,7 +53,7 @@ public:
     enum MAV_MOUNT_MODE get_mode() const { return _mode; }
 
     // set mount's mode
-    virtual void set_mode(enum MAV_MOUNT_MODE mode) { _mode = mode; }
+    void set_mode(enum MAV_MOUNT_MODE mode) { _mode = mode; }
 
     // set yaw_lock.  If true, the gimbal's yaw target is maintained in earth-frame meaning it will lock onto an earth-frame heading (e.g. North)
     // If false (aka "follow") the gimbal's yaw is maintained in body-frame meaning it will rotate with the vehicle
diff --git a/libraries/AP_Mount/AP_Mount_SToRM32.cpp b/libraries/AP_Mount/AP_Mount_SToRM32.cpp
index 03775f9cdc..52aa45616b 100644
--- a/libraries/AP_Mount/AP_Mount_SToRM32.cpp
+++ b/libraries/AP_Mount/AP_Mount_SToRM32.cpp
@@ -104,18 +104,6 @@ void AP_Mount_SToRM32::update()
     }
 }
 
-// set_mode - sets mount's mode
-void AP_Mount_SToRM32::set_mode(enum MAV_MOUNT_MODE mode)
-{
-    // exit immediately if not initialised
-    if (!_initialised) {
-        return;
-    }
-
-    // record the mode change
-    _mode = mode;
-}
-
 // get attitude as a quaternion.  returns true on success
 bool AP_Mount_SToRM32::get_attitude_quaternion(Quaternion& att_quat)
 {
diff --git a/libraries/AP_Mount/AP_Mount_SToRM32.h b/libraries/AP_Mount/AP_Mount_SToRM32.h
index d3baf8f168..a50ddb1d25 100644
--- a/libraries/AP_Mount/AP_Mount_SToRM32.h
+++ b/libraries/AP_Mount/AP_Mount_SToRM32.h
@@ -32,9 +32,6 @@ public:
     // has_pan_control - returns true if this mount can control it's pan (required for multicopters)
     bool has_pan_control() const override { return yaw_range_valid(); }
 
-    // set_mode - sets mount's mode
-    void set_mode(enum MAV_MOUNT_MODE mode) override;
-
 protected:
 
     // get attitude as a quaternion.  returns true on success
diff --git a/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp b/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
index 35bffb9c1c..e6502f878e 100644
--- a/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
+++ b/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
@@ -133,18 +133,6 @@ void AP_Mount_SToRM32_serial::update()
     }
 }
 
-// set_mode - sets mount's mode
-void AP_Mount_SToRM32_serial::set_mode(enum MAV_MOUNT_MODE mode)
-{
-    // exit immediately if not initialised
-    if (!_initialised) {
-        return;
-    }
-
-    // record the mode change
-    _mode = mode;
-}
-
 // get attitude as a quaternion.  returns true on success
 bool AP_Mount_SToRM32_serial::get_attitude_quaternion(Quaternion& att_quat)
 {
diff --git a/libraries/AP_Mount/AP_Mount_SToRM32_serial.h b/libraries/AP_Mount/AP_Mount_SToRM32_serial.h
index 67a779db4b..d1c1019034 100644
--- a/libraries/AP_Mount/AP_Mount_SToRM32_serial.h
+++ b/libraries/AP_Mount/AP_Mount_SToRM32_serial.h
@@ -35,9 +35,6 @@ public:
     // has_pan_control - returns true if this mount can control it's pan (required for multicopters)
     bool has_pan_control() const override { return yaw_range_valid(); };
 
-    // set_mode - sets mount's mode
-    void set_mode(enum MAV_MOUNT_MODE mode) override;
-
 protected:
 
     // get attitude as a quaternion.  returns true on success
diff --git a/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp b/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
index 210ae8cdc7..df48ddf7cc 100644
--- a/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
+++ b/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
@@ -103,18 +103,6 @@ void AP_Mount_SoloGimbal::update()
     }
 }
 
-// set_mode - sets mount's mode
-void AP_Mount_SoloGimbal::set_mode(enum MAV_MOUNT_MODE mode)
-{
-    // exit immediately if not initialised
-    if (!_initialised) {
-        return;
-    }
-
-    // record the mode change
-    _mode = mode;
-}
-
 // get attitude as a quaternion.  returns true on success
 bool AP_Mount_SoloGimbal::get_attitude_quaternion(Quaternion& att_quat)
 {
diff --git a/libraries/AP_Mount/AP_Mount_SoloGimbal.h b/libraries/AP_Mount/AP_Mount_SoloGimbal.h
index 565355b746..0b9f07182d 100644
--- a/libraries/AP_Mount/AP_Mount_SoloGimbal.h
+++ b/libraries/AP_Mount/AP_Mount_SoloGimbal.h
@@ -32,9 +32,6 @@ public:
     // has_pan_control - returns true if this mount can control it's pan (required for multicopters)
     bool has_pan_control() const override { return false; }
 
-    // set_mode - sets mount's mode
-    void set_mode(enum MAV_MOUNT_MODE mode) override;
-
     // handle a GIMBAL_REPORT message
     void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t &msg) override;
     void handle_gimbal_torque_report(mavlink_channel_t chan, const mavlink_message_t &msg);