From be49a06f0412e4cd25b5d9077f12aa669b70d129 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 12 Sep 2024 09:56:16 +0100
Subject: [PATCH] AP_Vehicle: remove runcam singleton

---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 13 ++-----------
 libraries/AP_Vehicle/AP_Vehicle.h   |  4 ----
 2 files changed, 2 insertions(+), 15 deletions(-)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 9f7d70bb24..4b6a95807f 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -35,11 +35,8 @@ extern AP_IOMCU iomcu;
   2nd group of parameters
  */
 const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
-#if HAL_RUNCAM_ENABLED
-    // @Group: CAM_RC_
-    // @Path: ../AP_Camera/AP_RunCam.cpp
-    AP_SUBGROUPINFO(runcam, "CAM_RC_", 1, AP_Vehicle, AP_RunCam),
-#endif
+
+    // 1: RunCam
 
 #if HAL_GYROFFT_ENABLED
     // @Group: FFT_
@@ -450,9 +447,6 @@ void AP_Vehicle::setup()
     gyro_fft.init(1000);
 #endif
 #endif
-#if HAL_RUNCAM_ENABLED
-    runcam.init();
-#endif
 #if HAL_HOTT_TELEM_ENABLED
     hott_telem.init();
 #endif
@@ -615,9 +609,6 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
 #if HAL_NMEA_OUTPUT_ENABLED
     SCHED_TASK_CLASS(AP_NMEA_Output, &vehicle.nmea,         update,                   50, 50, 180),
 #endif
-#if HAL_RUNCAM_ENABLED
-    SCHED_TASK_CLASS(AP_RunCam,    &vehicle.runcam,         update,                   50, 50, 200),
-#endif
 #if HAL_GYROFFT_ENABLED
     SCHED_TASK_CLASS(AP_GyroFFT,   &vehicle.gyro_fft,       update,                  400, 50, 205),
     SCHED_TASK_CLASS(AP_GyroFFT,   &vehicle.gyro_fft,       update_parameters,         1, 50, 210),
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index f34be5accb..f68350c8ca 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -47,7 +47,6 @@
 #include <AP_Scheduler/AP_Scheduler.h>
 #include <AP_SerialManager/AP_SerialManager.h>      // Serial manager library
 #include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
-#include <AP_Camera/AP_RunCam.h>
 #include <AP_OpenDroneID/AP_OpenDroneID.h>
 #include <AP_Hott_Telem/AP_Hott_Telem.h>
 #include <AP_ESC_Telem/AP_ESC_Telem.h>
@@ -373,9 +372,6 @@ protected:
     AP_RSSI rssi;
 #endif
 
-#if HAL_RUNCAM_ENABLED
-    AP_RunCam runcam;
-#endif
 #if HAL_GYROFFT_ENABLED
     AP_GyroFFT gyro_fft;
 #endif