From 0d2308f754139400fbcf1995f91a1c985971cf75 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 10 Dec 2014 14:35:39 +1100
Subject: [PATCH] AntennaTracker: removed old PROXY_MODE parameter

this should not be needed any more
---
 AntennaTracker/AntennaTracker.pde |  4 ----
 AntennaTracker/GCS_Mavlink.pde    | 12 ------------
 AntennaTracker/Parameters.h       |  3 +--
 AntennaTracker/Parameters.pde     |  7 -------
 AntennaTracker/system.pde         |  6 +-----
 5 files changed, 2 insertions(+), 30 deletions(-)

diff --git a/AntennaTracker/AntennaTracker.pde b/AntennaTracker/AntennaTracker.pde
index efbf714448..76d800a666 100644
--- a/AntennaTracker/AntennaTracker.pde
+++ b/AntennaTracker/AntennaTracker.pde
@@ -173,10 +173,6 @@ static RC_Channel channel_pitch(CH_PITCH);
 static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
 static GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS];
 
-// If proxy_mode is enabled, uartC is connected to a remote vehicle,
-// not gcs[1]
-static GCS_MAVLINK proxy_vehicle;
-
 // board specific config
 static AP_BoardConfig BoardConfig;
 
diff --git a/AntennaTracker/GCS_Mavlink.pde b/AntennaTracker/GCS_Mavlink.pde
index 57561265a0..6a3166f6aa 100644
--- a/AntennaTracker/GCS_Mavlink.pde
+++ b/AntennaTracker/GCS_Mavlink.pde
@@ -742,14 +742,6 @@ mission_failed:
         break;
 #endif
 
-    default:
-        // Proxy all other messages to the remote
-        if (g.proxy_mode && proxy_vehicle.initialised) {
-            if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) 
-                _mavlink_resend_uart(proxy_vehicle.chan, msg);
-        }
-        break;
-
     } // end switch
 } // end handle mavlink
 
@@ -820,10 +812,6 @@ static void gcs_update(void)
             gcs[i].update(NULL);
         }
     }
-    // Also check for messages from the remote if we are in proxy mode
-    if (g.proxy_mode == true && proxy_vehicle.initialised) {
-        proxy_vehicle.update(NULL);
-    }
 }
 
 static void gcs_send_text_P(gcs_severity severity, const prog_char_t *str)
diff --git a/AntennaTracker/Parameters.h b/AntennaTracker/Parameters.h
index 9418b52225..9b749433be 100644
--- a/AntennaTracker/Parameters.h
+++ b/AntennaTracker/Parameters.h
@@ -80,7 +80,7 @@ public:
         k_param_BoardConfig,
         k_param_gps,
         k_param_scan_speed,
-        k_param_proxy_mode,
+        k_param_proxy_mode_unused, // deprecated
         k_param_servo_type,
         k_param_onoff_yaw_rate,
         k_param_onoff_pitch_rate,
@@ -126,7 +126,6 @@ public:
     AP_Float start_longitude;
 
     AP_Float startup_delay;
-    AP_Int8  proxy_mode;
     AP_Int8  servo_type;
     AP_Float onoff_yaw_rate;
     AP_Float onoff_pitch_rate;
diff --git a/AntennaTracker/Parameters.pde b/AntennaTracker/Parameters.pde
index 6ce7d75419..3b3b78b38d 100644
--- a/AntennaTracker/Parameters.pde
+++ b/AntennaTracker/Parameters.pde
@@ -122,13 +122,6 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Standard
     GSCALAR(startup_delay,          "STARTUP_DELAY",   0),
 
-    // @Param: PROXY_MODE
-    // @DisplayName: Also act as a MAVLink proxy for a vehicle
-    // @Description: If true, the tracker will act as a MAVlink proxy for a remote vehicle, and will eavesdrop vehicle position reports. 
-    // @Values: 0:Off,1:On
-    // @User: Standard
-    GSCALAR(proxy_mode,          "PROXY_MODE",   0),
-
     // @Param: SERVO_TYPE
     // @DisplayName: Type of servo system being used
     // @Description: This allows selection of position servos or on/off servos
diff --git a/AntennaTracker/system.pde b/AntennaTracker/system.pde
index 863d106f50..4f3d779d45 100644
--- a/AntennaTracker/system.pde
+++ b/AntennaTracker/system.pde
@@ -42,11 +42,7 @@ static void init_tracker()
 
     // we have a 2nd serial port for telemetry
     hal.uartC->begin(map_baudrate(g.serial1_baud), 128, SERIAL1_BUFSIZE);
-    if (g.proxy_mode == true) {
-        proxy_vehicle.setup_uart(hal.uartC, map_baudrate(g.serial1_baud), 128, SERIAL1_BUFSIZE);
-    } else {
-        gcs[1].setup_uart(hal.uartC, map_baudrate(g.serial1_baud), 128, SERIAL1_BUFSIZE);
-    }
+    gcs[1].setup_uart(hal.uartC, map_baudrate(g.serial1_baud), 128, SERIAL1_BUFSIZE);
 
     mavlink_system.sysid = g.sysid_this_mav;