From 2cdcca2841a7751fdec6adbee49769eb324e3117 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 8 Jun 2018 16:22:20 +1000
Subject: [PATCH] Plane: move handling of MAV_CMD_DO_GRIPPER up

---
 ArduPlane/GCS_Mavlink.cpp | 25 -------------------------
 ArduPlane/make.inc        |  1 -
 ArduPlane/wscript         |  1 -
 3 files changed, 27 deletions(-)

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index b402e5756e..8f4efe5758 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -1162,31 +1162,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
                 result = MAV_RESULT_ACCEPTED;
             }
             break;
-            
-#if GRIPPER_ENABLED == ENABLED
-        case MAV_CMD_DO_GRIPPER:
-            // param1 : gripper number (ignored)
-            // param2 : action (0=release, 1=grab). See GRIPPER_ACTIONS enum.
-            if(!plane.g2.gripper.enabled()) {
-                result = MAV_RESULT_FAILED;
-            } else {
-                result = MAV_RESULT_ACCEPTED;
-                switch ((uint8_t)packet.param2) {
-                    case GRIPPER_ACTION_RELEASE:
-                        plane.g2.gripper.release();
-                        gcs().send_text(MAV_SEVERITY_INFO, "Gripper Released");
-                        break;
-                    case GRIPPER_ACTION_GRAB:
-                        plane.g2.gripper.grab();
-                        gcs().send_text(MAV_SEVERITY_INFO, "Gripper Grabbed");
-                        break;
-                    default:
-                        result = MAV_RESULT_FAILED;
-                        break;
-                }
-            }
-            break;
-#endif
 
         default:
             result = handle_command_long_message(packet);
diff --git a/ArduPlane/make.inc b/ArduPlane/make.inc
index 95a0fa622c..c64f750f8b 100644
--- a/ArduPlane/make.inc
+++ b/ArduPlane/make.inc
@@ -57,5 +57,4 @@ LIBRARIES += AP_Landing
 LIBRARIES += AP_Beacon
 LIBRARIES += PID
 LIBRARIES += AP_Soaring
-LIBRARIES += AP_Gripper
 LIBRARIES += AP_Devo_Telem
diff --git a/ArduPlane/wscript b/ArduPlane/wscript
index 45a53daebc..ab6c45bce7 100644
--- a/ArduPlane/wscript
+++ b/ArduPlane/wscript
@@ -31,7 +31,6 @@ def build(bld):
             'AP_Beacon',
             'PID',
             'AP_Soaring',
-            'AP_Gripper',
             'AP_Devo_Telem',
         ],
     )