ArduSub: DCM handles centrifugal correction application internally now

ArduSub/AP_Arming_Sub.cpp

@@ -126,8 +126,6 @@ bool AP_Arming_Sub::arm(AP_Arming::Method method, bool do_arming_checks)
         }
     }
 
-    // enable gps velocity based centrefugal force compensation
-    ahrs.set_correct_centrifugal(true);
     hal.util->set_soft_armed(true);
 
     // enable output to motors
@@ -187,8 +185,6 @@ bool AP_Arming_Sub::disarm(const AP_Arming::Method method, bool do_disarm_checks
 
     AP::logger().set_vehicle_armed(false);
 
-    // disable gps velocity based centrefugal force compensation
-    ahrs.set_correct_centrifugal(false);
     hal.util->set_soft_armed(false);
 
     // clear input holds

ArduSub/Parameters.cpp

@@ -688,8 +688,6 @@ void Sub::load_parameters()
         AP_HAL::panic("Bad var table");
     }
 
-    // disable centrifugal force correction, it will be enabled as part of the arming process
-    ahrs.set_correct_centrifugal(false);
     hal.util->set_soft_armed(false);
 
     if (!g.format_version.load() ||