AP_Rangefinder: Remove stop pin usage

libraries/AP_HAL/AnalogIn.h

@@ -10,20 +10,6 @@ public:
     virtual float read_latest() = 0;
     virtual void set_pin(uint8_t p) = 0;
 
-    // optionally allow setting of a pin that stops the device from
-    // reading. This is needed for sonar devices where you have more
-    // than one sonar, and you want to stop them interfering with each
-    // other. It assumes that if held low the device is stopped, if
-    // held high the device starts reading.    
-    virtual void set_stop_pin(uint8_t p) = 0;
-
-    // optionally allow a settle period in milliseconds. This is only
-    // used if a stop pin is set. If the settle period is non-zero
-    // then the analog input code will wait to get a reading for that
-    // number of milliseconds. Note that this will slow down the
-    // reading of analog inputs.
-    virtual void set_settle_time(uint16_t settle_time_ms) = 0;
-
     // return a voltage from 0.0 to 5.0V, scaled
     // against a reference voltage
     virtual float voltage_average() = 0;

libraries/AP_RangeFinder/AP_RangeFinder_Params.cpp

@@ -58,18 +58,12 @@ const AP_Param::GroupInfo AP_RangeFinder_Params::var_info[] = {
 
     // @Param: STOP_PIN
     // @DisplayName: Rangefinder stop pin
-    // @Description: Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.
+    // @Description: Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.
     // @Values: -1:Not Used,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
     // @User: Standard
     AP_GROUPINFO("STOP_PIN", 8, AP_RangeFinder_Params, stop_pin, -1),
 
-    // @Param: SETTLE
+    // 9 was SETTLE
-    // @DisplayName: Rangefinder settle time
-    // @Description: The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.
-    // @Units: ms
-    // @Increment: 1
-    // @User: Standard
-    AP_GROUPINFO("SETTLE", 9, AP_RangeFinder_Params, settle_time_ms, 0),
 
     // @Param: RMETRIC
     // @DisplayName: Ratiometric

libraries/AP_RangeFinder/AP_RangeFinder_Params.h

@@ -18,7 +18,6 @@ public:
     AP_Int8  ratiometric;
     AP_Int16 powersave_range;
     AP_Int8  stop_pin;
-    AP_Int16 settle_time_ms;
     AP_Float scaling;
     AP_Float offset;
     AP_Int8  function;

libraries/AP_RangeFinder/AP_RangeFinder_analog.cpp

@@ -41,8 +41,6 @@ AP_RangeFinder_analog::AP_RangeFinder_analog(RangeFinder::RangeFinder_State &_st
         set_status(RangeFinder::RangeFinder_NotConnected);
         return;
     }
-    source->set_stop_pin((uint8_t)_params.stop_pin);
-    source->set_settle_time((uint16_t)_params.settle_time_ms);
     set_status(RangeFinder::RangeFinder_NoData);
 }
 
@@ -71,8 +69,6 @@ void AP_RangeFinder_analog::update_voltage(void)
    }
    // cope with changed settings
    source->set_pin(params.pin);
-   source->set_stop_pin((uint8_t)params.stop_pin);
-   source->set_settle_time((uint16_t)params.settle_time_ms);
    if (params.ratiometric) {
        state.voltage_mv = source->voltage_average_ratiometric() * 1000U;
    } else {