From 58d45ef04ab0c385690f4ad4bdbf8c09ab057efc Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 28 Jan 2020 12:35:40 +1100
Subject: [PATCH] Plane: let AP_Vehicle handle loop()

---
 ArduPlane/ArduPlane.cpp |  6 ------
 ArduPlane/Plane.h       | 11 -----------
 2 files changed, 17 deletions(-)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index b6b03df1b7..8fff7e2818 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -123,12 +123,6 @@ void Plane::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
 
 constexpr int8_t Plane::_failsafe_priorities[7];
 
-void Plane::loop()
-{
-    scheduler.loop();
-    G_Dt = scheduler.get_loop_period_s();
-}
-
 // update AHRS system
 void Plane::ahrs_update()
 {
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 3ddc8833b7..a102f216a7 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -160,9 +160,6 @@ public:
 
     Plane(void);
 
-    // HAL::Callbacks implementation.
-    void loop() override;
-
 private:
 
     // key aircraft parameters passed to multiple libraries
@@ -172,9 +169,6 @@ private:
     Parameters g;
     ParametersG2 g2;
 
-    // main loop scheduler
-    AP_Scheduler scheduler;
-
     // mapping between input channels
     RCMapper rcmap;
 
@@ -726,11 +720,6 @@ private:
 
     float relative_altitude;
 
-    // INS variables
-    // The main loop execution time.  Seconds
-    // This is the time between calls to the DCM algorithm and is the Integration time for the gyros.
-    float G_Dt = 0.02f;
-
     // loop performance monitoring:
     AP::PerfInfo perf_info;
     struct {