From 449ca7495128b4e29ce5188ead8cb215e3d113db Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 28 Jan 2020 12:34:09 +1100
Subject: [PATCH] Tracker: let AP_Vehicle handle loop()

---
 AntennaTracker/Tracker.cpp | 14 --------------
 AntennaTracker/Tracker.h   |  6 ------
 2 files changed, 20 deletions(-)

diff --git a/AntennaTracker/Tracker.cpp b/AntennaTracker/Tracker.cpp
index 927c299a86..aa22ab0b58 100644
--- a/AntennaTracker/Tracker.cpp
+++ b/AntennaTracker/Tracker.cpp
@@ -64,20 +64,6 @@ void Tracker::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
     log_bit = (uint32_t)-1;
 }
 
-/**
-   loop() is called continuously 
- */
-void Tracker::loop()
-{
-    // wait for an INS sample
-    ins.wait_for_sample();
-
-    // tell the scheduler one tick has passed
-    scheduler.tick();
-
-    scheduler.run(19900UL);
-}
-
 void Tracker::one_second_loop()
 {
     // make it possible to change orientation at runtime
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 6356f5fd77..32d62dfc15 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -73,15 +73,9 @@ public:
 
     Tracker(void);
 
-    // HAL::Callbacks implementation.
-    void loop() override;
-
 private:
     Parameters g;
 
-    // main loop scheduler
-    AP_Scheduler scheduler;
-
     uint32_t start_time_ms = 0;
 
     AP_Logger logger;