From cca4d5136e46dccc35851d30bf580eb3e1cf72be Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 17 Mar 2018 23:12:33 +1100
Subject: [PATCH] Copter: move common calibration functions up

---
 ArduCopter/Copter.h        |  1 -
 ArduCopter/GCS_Mavlink.cpp | 40 --------------------------------------
 ArduCopter/system.cpp      | 15 --------------
 3 files changed, 56 deletions(-)

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 1d71504ece..2bee51206b 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -943,7 +943,6 @@ private:
     // system.cpp
     void init_ardupilot();
     void startup_INS_ground();
-    bool calibrate_gyros();
     bool position_ok();
     bool ekf_position_ok();
     bool optflow_position_ok();
diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index b723bcf78c..6c734210b1 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -720,52 +720,12 @@ void GCS_MAVLINK_Copter::handle_command_ack(const mavlink_message_t* msg)
 
 MAV_RESULT GCS_MAVLINK_Copter::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
 {
-    if (is_equal(packet.param1,1.0f)) {
-        if (!copter.calibrate_gyros()) {
-            return MAV_RESULT_FAILED;
-        }
-        return MAV_RESULT_ACCEPTED;
-    }
-
     if (is_equal(packet.param3,1.0f)) {
         // fast barometer calibration
         copter.init_barometer(false);
         return MAV_RESULT_ACCEPTED;
     }
 
-    if (is_equal(packet.param4,1.0f)) {
-        return MAV_RESULT_UNSUPPORTED;
-    }
-
-    if (is_equal(packet.param5,1.0f)) {
-        // 3d accel calibration
-        if (!copter.calibrate_gyros()) {
-            return MAV_RESULT_FAILED;
-        }
-        copter.ins.acal_init();
-        copter.ins.get_acal()->start(this);
-        return MAV_RESULT_ACCEPTED;
-    }
-
-    if (is_equal(packet.param5,2.0f)) {
-        // calibrate gyros
-        if (!copter.calibrate_gyros()) {
-            return MAV_RESULT_FAILED;
-        }
-        // accel trim
-        float trim_roll, trim_pitch;
-        if(!copter.ins.calibrate_trim(trim_roll, trim_pitch)) {
-            return MAV_RESULT_FAILED;
-        }
-        // reset ahrs's trim to suggested values from calibration routine
-        copter.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
-        return MAV_RESULT_ACCEPTED;
-    }
-
-    if (is_equal(packet.param5,4.0f)) {
-        // simple accel calibration
-        return copter.ins.simple_accel_cal(copter.ahrs);
-    }
     if (is_equal(packet.param6,1.0f)) {
         // compassmot calibration
         return copter.mavlink_compassmot(chan);
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index bc4a9cf905..b7feb2353f 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -301,21 +301,6 @@ void Copter::startup_INS_ground()
     ahrs.reset();
 }
 
-// calibrate gyros - returns true if successfully calibrated
-bool Copter::calibrate_gyros()
-{
-    // gyro offset calibration
-    copter.ins.init_gyro();
-
-    // reset ahrs gyro bias
-    if (copter.ins.gyro_calibrated_ok_all()) {
-        copter.ahrs.reset_gyro_drift();
-        return true;
-    }
-
-    return false;
-}
-
 // position_ok - returns true if the horizontal absolute position is ok and home position is set
 bool Copter::position_ok()
 {