From b87852ee2efb8f6305c9e63317f86cc7b0bf33a0 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 31 Jan 2014 13:55:21 +0900
Subject: [PATCH] Copter: remove unused flip.pde

---
 ArduCopter/flip.pde | 82 ---------------------------------------------
 1 file changed, 82 deletions(-)
 delete mode 100644 ArduCopter/flip.pde

diff --git a/ArduCopter/flip.pde b/ArduCopter/flip.pde
deleted file mode 100644
index 5d67ed9c61..0000000000
--- a/ArduCopter/flip.pde
+++ /dev/null
@@ -1,82 +0,0 @@
-// 2010 Jose Julio
-// 2011 Adapted and updated for AC2 by Jason Short
-//
-// Automatic Acrobatic Procedure (AAP) v1 : Roll flip
-// State machine aproach:
-//    Some states are fixed commands (for a fixed time)
-//    Some states are fixed commands (until some IMU condition)
-//    Some states include controls inside
-uint8_t flip_timer;
-uint8_t flip_state;
-
-#define AAP_THR_INC 170
-#define AAP_THR_DEC 120
-#define AAP_ROLL_OUT 2000
-
-static int8_t flip_dir;
-
-void init_flip()
-{
-    if(false == ap.do_flip) {
-        ap.do_flip = true;
-        flip_state = 0;
-        flip_dir = (ahrs.roll_sensor >= 0) ? 1 : -1;
-		Log_Write_Event(DATA_BEGIN_FLIP);
-    }
-}
-
-void roll_flip()
-{
-    int32_t roll = ahrs.roll_sensor * flip_dir;
-
-    // Roll State machine
-    switch (flip_state) {
-    case 0:
-        if (roll < 4500) {
-            // Roll control
-			roll_rate_target_bf     = 40000 * flip_dir;
-		    if (throttle_mode_manual(throttle_mode)){
-    		    // increase throttle right before flip
-                set_throttle_out(g.rc_3.control_in + AAP_THR_INC, false);
-            }
-        }else{
-            flip_state++;
-        }
-        break;
-
-    case 1:
-        if((roll >= 4500) || (roll < -9000)) {
-		    #if FRAME_CONFIG == HELI_FRAME
-				roll_rate_target_bf = 40000 * flip_dir;
-		    #else
-			    roll_rate_target_bf = 40000 * flip_dir;
-		    #endif
-		    // decrease throttle while inverted
-		    if (throttle_mode_manual(throttle_mode)){
-                set_throttle_out(g.rc_3.control_in - AAP_THR_DEC, false);
-            }
-        }else{
-            flip_state++;
-            flip_timer = 0;
-        }
-        break;
-
-    case 2:
-        // 100 = 1 second with 100hz
-        if (flip_timer < 100) {
-            // we no longer need to adjust the roll_rate. 
-            // It will be handled by normal flight control loops
-
-            // increase throttle to gain any lost alitude
-            if (throttle_mode_manual(throttle_mode)){
-                set_throttle_out(g.rc_3.control_in + AAP_THR_INC, false);
-            }
-            flip_timer++;
-        }else{
-        	Log_Write_Event(DATA_END_FLIP);
-            ap.do_flip = false;
-            flip_state = 0;
-        }
-        break;
-    }
-}