Rover: let AP_Vehicle handle loop()

APMrover2/Rover.cpp

@@ -135,8 +135,7 @@ Rover::Rover(void) :
     channel_lateral(nullptr),
     logger{g.log_bitmask},
     modes(&g.mode1),
-    control_mode(&mode_initializing),
-    G_Dt(0.02f)
+    control_mode(&mode_initializing)
 {
 }
 
@@ -152,15 +151,6 @@ void Rover::stats_update(void)
 #endif
 
 
-/*
-  loop() is called rapidly while the sketch is running
- */
-void Rover::loop()
-{
-    scheduler.loop();
-    G_Dt = scheduler.get_last_loop_time_s();
-}
-
 // update AHRS system
 void Rover::ahrs_update()
 {

APMrover2/Rover.h

@@ -126,9 +126,6 @@ public:
 
     Rover(void);
 
-    // HAL::Callbacks implementation.
-    void loop(void) override;
-
 private:
 
     // must be the first AP_Param variable declared to ensure its
@@ -140,9 +137,6 @@ private:
     Parameters g;
     ParametersG2 g2;
 
-    // main loop scheduler
-    AP_Scheduler scheduler;
-
     // mapping between input channels
     RCMapper rcmap;
 
@@ -237,11 +231,6 @@ private:
     // true if the compass's initial location has been set
     bool compass_init_location;
 
-    // IMU variables
-    // The main loop execution time.  Seconds
-    // This is the time between calls to the DCM algorithm and is the Integration time for the gyros.
-    float G_Dt;
-
     // flyforward timer
     uint32_t flyforward_start_ms;