Sub: moved accel cal update to vehicle code

ArduSub/ArduSub.cpp

@@ -58,7 +58,6 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
     SCHED_TASK(rpm_update,            10,    200),
 #endif
     SCHED_TASK_CLASS(Compass,          &sub.compass,              cal_update, 100, 100),
-    SCHED_TASK(accel_cal_update,      10,    100),
     SCHED_TASK(terrain_update,        10,    100),
 #if GRIPPER_ENABLED == ENABLED
     SCHED_TASK_CLASS(AP_Gripper,          &sub.g2.gripper,       update,              10,  75),

ArduSub/Sub.h

@@ -591,7 +591,6 @@ private:
     bool verify_nav_delay(const AP_Mission::Mission_Command& cmd);
 
     void log_init(void);
-    void accel_cal_update(void);
     void read_airspeed();
 
     void failsafe_leak_check();

ArduSub/sensors.cpp

@@ -86,19 +86,6 @@ void Sub::rpm_update(void)
 }
 #endif
 
-void Sub::accel_cal_update()
-{
-    if (hal.util->get_soft_armed()) {
-        return;
-    }
-    ins.acal_update();
-    // check if new trim values, and set them
-    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, duplicated from plane
  */