Sub: Remove auto_disarm_check

There isn't a good set of conditions to determine if we should
automatically disarm

ArduSub/ArduSub.cpp

@@ -31,7 +31,6 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
     SCHED_TASK(update_optical_flow,  200,    160),
 #endif
     SCHED_TASK(update_batt_compass,   10,    120),
-    SCHED_TASK(auto_disarm_check,     10,     50),
     SCHED_TASK(read_rangefinder,      20,    100),
     SCHED_TASK(update_altitude,       10,    100),
     SCHED_TASK(run_nav_updates,       50,    100),

ArduSub/Parameters.cpp

@@ -272,14 +272,6 @@ const AP_Param::Info Sub::var_info[] = {
     // @User: Standard
     GSCALAR(log_bitmask,    "LOG_BITMASK",          DEFAULT_LOG_BITMASK),
 
-    // @Param: DISARM_DELAY
-    // @DisplayName: Disarm delay
-    // @Description: Delay before automatic disarm in seconds. A value of zero disables auto disarm.
-    // @Units: Seconds
-    // @Range: 0 127
-    // @User: Advanced
-    GSCALAR(disarm_delay, "DISARM_DELAY",           AUTO_DISARMING_DELAY),
-
     // @Param: ANGLE_MAX
     // @DisplayName: Angle Max
     // @Description: Maximum lean angle in all flight modes

ArduSub/Parameters.h

@@ -199,8 +199,7 @@ public:
         k_param_gcs_pid_mask = 178,
         k_param_throttle_filt,
         k_param_throttle_deadzone, // Used in auto-throttle modes
-        k_param_disarm_delay,
-        k_param_terrain_follow,
+        k_param_terrain_follow = 182,
         k_param_rc_feel_rp,
         k_param_throttle_gain,
         k_param_cam_tilt_center,
@@ -280,8 +279,6 @@ public:
     //
     AP_Int32        log_bitmask;
 
-    AP_Int8         disarm_delay;
-
     AP_Int8         fs_ekf_action;
     AP_Int8         fs_crash_check;
     AP_Float        fs_ekf_thresh;

ArduSub/Sub.h

@@ -656,7 +656,6 @@ private:
     bool mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc);
     uint8_t mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq, uint8_t throttle_type, uint16_t throttle_value, float timeout_sec);
     void motor_test_stop();
-    void auto_disarm_check();
     bool init_arm_motors(bool arming_from_gcs);
     void init_disarm_motors();
     void motors_output();

ArduSub/motors.cpp

@@ -1,39 +1,7 @@
 #include "Sub.h"
 
-#define ARM_DELAY               20  // called at 10hz so 2 seconds
-#define DISARM_DELAY            20  // called at 10hz so 2 seconds
-#define AUTO_TRIM_DELAY         100 // called at 10hz so 10 seconds
 #define LOST_VEHICLE_DELAY      10  // called at 10hz so 1 second
 
-//static uint32_t auto_disarm_begin;
-
-// auto_disarm_check
-// Automatically disarm the vehicle under some set of conditions
-// What those conditions should be TBD
-void Sub::auto_disarm_check()
-{
-    // Disable for now
-
-    //    uint32_t tnow_ms = millis();
-    //    uint32_t disarm_delay_ms = 1000*constrain_int16(g.disarm_delay, 0, 127);
-    //
-    //    // exit immediately if we are already disarmed, or if auto
-    //    // disarming is disabled
-    //    if (!motors.armed() || disarm_delay_ms == 0) {
-    //        auto_disarm_begin = tnow_ms;
-    //        return;
-    //    }
-    //
-    //    if(!mode_has_manual_throttle(control_mode) || !ap.throttle_zero) {
-    //      auto_disarm_begin = tnow_ms;
-    //    }
-    //
-    //    if(tnow > auto_disarm_begin + disarm_delay_ms) {
-    //      init_disarm_motors();
-    //      auto_disarm_begin = tnow_ms;
-    //    }
-}
-
 // init_arm_motors - performs arming process including initialisation of barometer and gyros
 //  returns false if arming failed because of pre-arm checks, arming checks or a gyro calibration failure
 bool Sub::init_arm_motors(bool arming_from_gcs)