Plane: moved accel cal update to vehicle code

ArduPlane/ArduPlane.cpp

@@ -64,7 +64,6 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(read_rangefinder,       50,    100),
     SCHED_TASK_CLASS(AP_ICEngine, &plane.g2.ice_control, update, 10, 100),
     SCHED_TASK_CLASS(Compass,          &plane.compass,              cal_update, 50, 50),
-    SCHED_TASK(accel_cal_update,       10,    50),
 #if OPTFLOW == ENABLED
     SCHED_TASK_CLASS(OpticalFlow, &plane.optflow, update,    50,    50),
 #endif

ArduPlane/Plane.h

@@ -1032,7 +1032,6 @@ private:
     void read_rangefinder(void);
     void read_airspeed(void);
     void rpm_update(void);
-    void accel_cal_update(void);
 
     // system.cpp
     void init_ardupilot() override;

ArduPlane/sensors.cpp

@@ -34,20 +34,6 @@ void Plane::read_rangefinder(void)
     rangefinder_height_update();
 }
 
-/*
-    Accel calibration
-*/
-void Plane::accel_cal_update() {
-    if (hal.util->get_soft_armed()) {
-        return;
-    }
-    ins.acal_update();
-    float trim_roll, trim_pitch;
-    if(ins.get_new_trim(trim_roll, trim_pitch)) {
-        ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
-    }
-}
-
 /*
   ask airspeed sensor for a new value
  */