From ee5ff413a9a64ea0bb4ad351fa6ff5679ae2c429 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Thu, 19 Aug 2021 12:19:12 +0100
Subject: [PATCH] Blimp: remove stick gesture compass cal start and stop

---
 Blimp/Blimp.cpp   |  2 +-
 Blimp/Blimp.h     |  1 -
 Blimp/sensors.cpp | 31 -------------------------------
 3 files changed, 1 insertion(+), 33 deletions(-)

diff --git a/Blimp/Blimp.cpp b/Blimp/Blimp.cpp
index 34d0f6df35..f8b89787ba 100644
--- a/Blimp/Blimp.cpp
+++ b/Blimp/Blimp.cpp
@@ -56,7 +56,7 @@ const AP_Scheduler::Task Blimp::scheduler_tasks[] = {
 #endif
     SCHED_TASK_CLASS(AP_InertialSensor,    &blimp.ins,                 periodic,       400,  50),
     SCHED_TASK_CLASS(AP_Scheduler,         &blimp.scheduler,           update_logging, 0.1,  75),
-    SCHED_TASK(compass_cal_update,   100,    100),
+    SCHED_TASK_CLASS(Compass,              &blimp.compass,             cal_update,     100, 100),
     SCHED_TASK(accel_cal_update,      10,    100),
 #if STATS_ENABLED == ENABLED
     SCHED_TASK_CLASS(AP_Stats,             &blimp.g2.stats,            update,           1, 100),
diff --git a/Blimp/Blimp.h b/Blimp/Blimp.h
index 9440627b58..64afa541dd 100644
--- a/Blimp/Blimp.h
+++ b/Blimp/Blimp.h
@@ -429,7 +429,6 @@ private:
     bool rangefinder_up_ok();
     void rpm_update();
     void update_optical_flow(void);
-    void compass_cal_update(void);
     void accel_cal_update(void);
     void init_proximity();
     void update_proximity();
diff --git a/Blimp/sensors.cpp b/Blimp/sensors.cpp
index 4370519764..b52366d039 100644
--- a/Blimp/sensors.cpp
+++ b/Blimp/sensors.cpp
@@ -8,37 +8,6 @@ void Blimp::read_barometer(void)
     baro_alt = barometer.get_altitude() * 100.0f;
 }
 
-
-void Blimp::compass_cal_update()
-{
-    compass.cal_update();
-
-    if (hal.util->get_soft_armed()) {
-        return;
-    }
-
-    static uint32_t compass_cal_stick_gesture_begin = 0;
-
-    if (compass.is_calibrating()) {
-        if (channel_yaw->get_control_in() < -4000 && channel_down->get_control_in() > 900) {
-            compass.cancel_calibration_all();
-        }
-    } else {
-        bool stick_gesture_detected = compass_cal_stick_gesture_begin != 0 && !motors->armed() && channel_yaw->get_control_in() > 4000 && channel_down->get_control_in() > 900;
-        uint32_t tnow = millis();
-
-        if (!stick_gesture_detected) {
-            compass_cal_stick_gesture_begin = tnow;
-        } else if (tnow-compass_cal_stick_gesture_begin > 1000*COMPASS_CAL_STICK_GESTURE_TIME) {
-#ifdef CAL_ALWAYS_REBOOT
-            compass.start_calibration_all(true,true,COMPASS_CAL_STICK_DELAY,true);
-#else
-            compass.start_calibration_all(true,true,COMPASS_CAL_STICK_DELAY,false);
-#endif
-        }
-    }
-}
-
 void Blimp::accel_cal_update()
 {
     if (hal.util->get_soft_armed()) {