From 9a32e8208fc8fe644c13a98f56b3ccfc0a22c003 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 6 Apr 2020 13:13:35 +0900
Subject: [PATCH] Rover: visual odometry moved to AP_Vehicle

---
 APMrover2/GCS_Rover.cpp  | 8 --------
 APMrover2/Parameters.cpp | 4 +---
 APMrover2/Parameters.h   | 3 ---
 APMrover2/Rover.h        | 1 -
 APMrover2/config.h       | 7 -------
 APMrover2/sensors.cpp    | 1 -
 APMrover2/system.cpp     | 3 ---
 7 files changed, 1 insertion(+), 26 deletions(-)

diff --git a/APMrover2/GCS_Rover.cpp b/APMrover2/GCS_Rover.cpp
index 7b7a92bfa9..e045de3baf 100644
--- a/APMrover2/GCS_Rover.cpp
+++ b/APMrover2/GCS_Rover.cpp
@@ -28,11 +28,6 @@ bool GCS_Rover::supersimple_input_active() const
 void GCS_Rover::update_vehicle_sensor_status_flags(void)
 {
     // first what sensors/controllers we have
-    const AP_VisualOdom *visual_odom = AP::visualodom();
-    if (visual_odom && visual_odom->enabled()) {
-        control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
-    }
     const AP_Proximity *proximity = AP_Proximity::get_singleton();
     if (proximity && proximity->get_status() > AP_Proximity::Status::NotConnected) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
@@ -58,9 +53,6 @@ void GCS_Rover::update_vehicle_sensor_status_flags(void)
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control
     }
 
-    if (visual_odom && visual_odom->enabled() && visual_odom->healthy()) {
-        control_sensors_health |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
-    }
     const RangeFinder *rangefinder = RangeFinder::get_singleton();
     if (rangefinder && rangefinder->num_sensors() > 0) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
diff --git a/APMrover2/Parameters.cpp b/APMrover2/Parameters.cpp
index df1f06a266..6ce9409d9d 100644
--- a/APMrover2/Parameters.cpp
+++ b/APMrover2/Parameters.cpp
@@ -416,9 +416,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Path: ../libraries/AP_Beacon/AP_Beacon.cpp
     AP_SUBGROUPINFO(beacon, "BCN", 6, ParametersG2, AP_Beacon),
 
-    // @Group: VISO
-    // @Path: ../libraries/AP_VisualOdom/AP_VisualOdom.cpp
-    AP_SUBGROUPINFO(visual_odom, "VISO", 7, ParametersG2, AP_VisualOdom),
+    // 7 was used by AP_VisualOdometry
 
     // @Group: MOT_
     // @Path: AP_MotorsUGV.cpp
diff --git a/APMrover2/Parameters.h b/APMrover2/Parameters.h
index 173ba19589..0d7e838c77 100644
--- a/APMrover2/Parameters.h
+++ b/APMrover2/Parameters.h
@@ -298,9 +298,6 @@ public:
 
     AP_Beacon beacon;
 
-    // Visual Odometry camera
-    AP_VisualOdom visual_odom;
-
     // Motor library
     AP_MotorsUGV motors;
 
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index 23adc5350b..4f204ac880 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -50,7 +50,6 @@
 #include <AP_Stats/AP_Stats.h>                      // statistics library
 #include <AP_Terrain/AP_Terrain.h>
 #include <AP_Vehicle/AP_Vehicle.h>                  // needed for AHRS build
-#include <AP_VisualOdom/AP_VisualOdom.h>
 #include <AP_WheelEncoder/AP_WheelEncoder.h>
 #include <AP_WheelEncoder/AP_WheelRateControl.h>
 #include <APM_Control/AR_AttitudeControl.h>
diff --git a/APMrover2/config.h b/APMrover2/config.h
index 894ced5585..d9e5a1c37d 100644
--- a/APMrover2/config.h
+++ b/APMrover2/config.h
@@ -46,13 +46,6 @@
   #error XXX
 #endif
 
-
-//////////////////////////////////////////////////////////////////////////////
-//  VISUAL ODOMETRY
-#ifndef VISUAL_ODOMETRY_ENABLED
-# define VISUAL_ODOMETRY_ENABLED ENABLED
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////
 // STARTUP BEHAVIOUR
diff --git a/APMrover2/sensors.cpp b/APMrover2/sensors.cpp
index f62c3c3b04..69bac92917 100644
--- a/APMrover2/sensors.cpp
+++ b/APMrover2/sensors.cpp
@@ -1,7 +1,6 @@
 #include "Rover.h"
 
 #include <AP_RangeFinder/AP_RangeFinder_Backend.h>
-#include <AP_VisualOdom/AP_VisualOdom.h>
 
 // check for new compass data - 10Hz
 void Rover::update_compass(void)
diff --git a/APMrover2/system.cpp b/APMrover2/system.cpp
index fa7f848164..e7acb30249 100644
--- a/APMrover2/system.cpp
+++ b/APMrover2/system.cpp
@@ -73,9 +73,6 @@ void Rover::init_ardupilot()
     // init beacons used for non-gps position estimation
     g2.beacon.init();
 
-    // init library used for visual position estimation
-    g2.visual_odom.init();
-
     // and baro for EKF
     barometer.set_log_baro_bit(MASK_LOG_IMU);
     barometer.calibrate();