From ab36dc0ed916f041a187ea4ac70faa2f878f0c49 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 17 Aug 2021 12:52:48 +1000
Subject: [PATCH] Copter: moved accel cal update to vehicle code

---
 ArduCopter/Copter.cpp  |  1 -
 ArduCopter/Copter.h    |  2 +-
 ArduCopter/sensors.cpp | 20 --------------------
 3 files changed, 1 insertion(+), 22 deletions(-)

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index 35a6688a55..ce192c7a4b 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -167,7 +167,6 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(rpm_update,            40,    200),
 #endif
     SCHED_TASK_CLASS(Compass, &copter.compass, cal_update, 100, 100),
-    SCHED_TASK(accel_cal_update,      10,    100),
     SCHED_TASK_CLASS(AP_TempCalibration,   &copter.g2.temp_calibration, update,          10, 100),
 #if HAL_ADSB_ENABLED
     SCHED_TASK(avoidance_adsb_update, 10,    100),
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 1c0fec88df..79f80168cd 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -869,7 +869,7 @@ private:
     bool rangefinder_up_ok() const;
     void rpm_update();
     void update_optical_flow(void);
-    void accel_cal_update(void);
+    void compass_cal_update(void);
     void init_proximity();
     void update_proximity();
 
diff --git a/ArduCopter/sensors.cpp b/ArduCopter/sensors.cpp
index 243d0cb981..6955e211d5 100644
--- a/ArduCopter/sensors.cpp
+++ b/ArduCopter/sensors.cpp
@@ -163,26 +163,6 @@ void Copter::rpm_update(void)
 }
 
 
-void Copter::accel_cal_update()
-{
-    if (hal.util->get_soft_armed()) {
-        return;
-    }
-    ins.acal_update();
-    // check if new trim values, and set them
-    float trim_roll, trim_pitch;
-    if(ins.get_new_trim(trim_roll, trim_pitch)) {
-        ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
-    }
-
-#ifdef CAL_ALWAYS_REBOOT
-    if (ins.accel_cal_requires_reboot()) {
-        hal.scheduler->delay(1000);
-        hal.scheduler->reboot(false);
-    }
-#endif
-}
-
 // initialise proximity sensor
 void Copter::init_proximity(void)
 {