From bc5d9b1a1901e414c627d9d507c2cf114195bc67 Mon Sep 17 00:00:00 2001
From: Jacob Walser <jwalser90@gmail.com>
Date: Fri, 24 Mar 2017 15:10:16 -0400
Subject: [PATCH] Sub: Remove unused lost_vehicle_check

---
 ArduSub/ArduSub.cpp |  1 -
 ArduSub/Sub.h       |  1 -
 ArduSub/motors.cpp  | 25 -------------------------
 3 files changed, 27 deletions(-)

diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index f47571ce76..aefa1d7325 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -41,7 +41,6 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
     SCHED_TASK(update_notify,         50,     90),
     SCHED_TASK(one_hz_loop,            1,    100),
     SCHED_TASK(ekf_check,             10,     75),
-    SCHED_TASK(lost_vehicle_check,    10,     50),
     SCHED_TASK(gcs_check_input,      400,    180),
     SCHED_TASK(gcs_send_heartbeat,     1,    110),
     SCHED_TASK(gcs_send_deferred,     50,    550),
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index d5a90336a3..db9c4eeb6b 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -659,7 +659,6 @@ private:
     bool init_arm_motors(bool arming_from_gcs);
     void init_disarm_motors();
     void motors_output();
-    void lost_vehicle_check();
     void run_nav_updates(void);
     void calc_position();
     void calc_distance_and_bearing();
diff --git a/ArduSub/motors.cpp b/ArduSub/motors.cpp
index f746c55cce..912164c81a 100644
--- a/ArduSub/motors.cpp
+++ b/ArduSub/motors.cpp
@@ -1,7 +1,5 @@
 #include "Sub.h"
 
-#define LOST_VEHICLE_DELAY      10  // called at 10hz so 1 second
-
 // init_arm_motors - performs arming process including initialisation of barometer and gyros
 //  returns false if arming failed because of pre-arm checks, arming checks or a gyro calibration failure
 bool Sub::init_arm_motors(bool arming_from_gcs)
@@ -137,29 +135,6 @@ void Sub::motors_output()
     }
 }
 
-// check for pilot stick input to trigger lost vehicle alarm
-void Sub::lost_vehicle_check()
-{
-    static uint8_t soundalarm_counter;
-
-    // ensure throttle is down, motors not armed, pitch and roll rc at max. Note: rc1=roll rc2=pitch
-    if (ap.throttle_zero && !motors.armed() && (channel_roll->get_control_in() > 4000) && (channel_pitch->get_control_in() > 4000)) {
-        if (soundalarm_counter >= LOST_VEHICLE_DELAY) {
-            if (AP_Notify::flags.vehicle_lost == false) {
-                AP_Notify::flags.vehicle_lost = true;
-                gcs_send_text(MAV_SEVERITY_NOTICE,"Locate vehicle alarm");
-            }
-        } else {
-            soundalarm_counter++;
-        }
-    } else {
-        soundalarm_counter = 0;
-        if (AP_Notify::flags.vehicle_lost == true) {
-            AP_Notify::flags.vehicle_lost = false;
-        }
-    }
-}
-
 // translate wpnav roll/pitch outputs to lateral/forward
 void Sub::translate_wpnav_rp(float &lateral_out, float &forward_out)
 {