From 16b5b003683fee63f8195f525199d7f4b0fed9ff Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 17 Nov 2012 18:03:17 +1100
Subject: [PATCH] Rover: removed inverted flight support

---
 APMrover2/APMrover2.pde  | 2 --
 APMrover2/Parameters.h   | 1 -
 APMrover2/Parameters.pde | 1 -
 APMrover2/config.h       | 4 ----
 4 files changed, 8 deletions(-)

diff --git a/APMrover2/APMrover2.pde b/APMrover2/APMrover2.pde
index 745c112c59..a57b0d2912 100644
--- a/APMrover2/APMrover2.pde
+++ b/APMrover2/APMrover2.pde
@@ -375,8 +375,6 @@ byte    control_mode        = INITIALISING;
 // Used to maintain the state of the previous control switch position
 // This is set to -1 when we need to re-read the switch
 byte 	oldSwitchPosition;
-// This is used to enable the inverted flight feature
-bool    inverted_flight     = false;
 // These are trim values used for elevon control
 // For elevons radio_in[CH_ROLL] and radio_in[CH_PITCH] are equivalent aileron and elevator, not left and right elevon
 static uint16_t elevon1_trim  = 1500; 	
diff --git a/APMrover2/Parameters.h b/APMrover2/Parameters.h
index c7c12df92c..a33ade599f 100644
--- a/APMrover2/Parameters.h
+++ b/APMrover2/Parameters.h
@@ -323,7 +323,6 @@ public:
         AP_Float    curr_amp_per_volt;
         AP_Float    input_voltage;
 	AP_Int16    pack_capacity;		// Battery pack capacity less reserve
-        AP_Int8	    inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger
 #if HIL_MODE != HIL_MODE_ATTITUDE
 #if CONFIG_SONAR == ENABLED     
         AP_Int8	    sonar_enabled;
diff --git a/APMrover2/Parameters.pde b/APMrover2/Parameters.pde
index b8c2d773f4..b9ae628a5f 100644
--- a/APMrover2/Parameters.pde
+++ b/APMrover2/Parameters.pde
@@ -85,7 +85,6 @@ const AP_Param::Info var_info[] PROGMEM = {
 	GSCALAR(curr_amp_per_volt,      "AMP_PER_VOLT",     CURR_AMP_PER_VOLT),
 	GSCALAR(input_voltage,          "INPUT_VOLTS",      INPUT_VOLTAGE),
 	GSCALAR(pack_capacity,          "BATT_CAPACITY",    HIGH_DISCHARGE),
-	GSCALAR(inverted_flight_ch,     "INVERTEDFLT_CH",   0),
 #if HIL_MODE != HIL_MODE_ATTITUDE
 #if CONFIG_SONAR == ENABLED     
 	// @Param: SONAR_ENABLE
diff --git a/APMrover2/config.h b/APMrover2/config.h
index 4211a40b3f..b198ba603e 100644
--- a/APMrover2/config.h
+++ b/APMrover2/config.h
@@ -781,10 +781,6 @@
 # define USE_CURRENT_ALT FALSE
 #endif
 
-#ifndef INVERTED_FLIGHT_PWM
-# define INVERTED_FLIGHT_PWM 1750
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // Developer Items
 //