From e0f63ca7f148d9431e1235305c5a334c2614546b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 4 Oct 2018 10:01:39 +1000
Subject: [PATCH] AP_Gripper: stop cheating on simulated servo state

---
 libraries/AP_Gripper/AP_Gripper_Servo.cpp | 19 +++++++------------
 1 file changed, 7 insertions(+), 12 deletions(-)

diff --git a/libraries/AP_Gripper/AP_Gripper_Servo.cpp b/libraries/AP_Gripper/AP_Gripper_Servo.cpp
index fdded637dc..565774b623 100644
--- a/libraries/AP_Gripper/AP_Gripper_Servo.cpp
+++ b/libraries/AP_Gripper/AP_Gripper_Servo.cpp
@@ -49,23 +49,18 @@ bool AP_Gripper_Servo::has_state_pwm(const uint16_t pwm) const
         // (e.g. last action was a grab not a release)
         return false;
     }
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-    if (is_releasing && AP::sitl()->gripper_sim.is_jaw_open()) {
-        gcs().send_text(MAV_SEVERITY_INFO, "Gripper load released");
-        return true;
-    }
-    if (!is_releasing && !AP::sitl()->gripper_sim.is_jaw_open()) {
-        gcs().send_text(MAV_SEVERITY_INFO, "Gripper load grabbed");
-        return true;
-    }
-    return false;
-#else
     if (AP_HAL::millis() - action_timestamp < action_time) {
         // servo still moving....
         return false;
     }
-    return true;
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    if (is_releasing) {
+        gcs().send_text(MAV_SEVERITY_INFO, "Gripper load released");
+    } else {
+        gcs().send_text(MAV_SEVERITY_INFO, "Gripper load grabbed");
+    }
 #endif
+    return true;
 }