From 7658c13c69e3080fbce2c230af041201c6761142 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 28 Jan 2020 12:35:54 +1100
Subject: [PATCH] Sub: let AP_Vehicle handle loop()

---
 ArduSub/ArduSub.cpp |  7 -------
 ArduSub/Sub.cpp     |  1 -
 ArduSub/Sub.h       | 13 +------------
 3 files changed, 1 insertion(+), 20 deletions(-)

diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index 11cdbe49fe..8bfbd8e4cf 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -91,13 +91,6 @@ void Sub::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
 
 constexpr int8_t Sub::_failsafe_priorities[5];
 
-void Sub::loop()
-{
-    scheduler.loop();
-    G_Dt = scheduler.get_loop_period_s();
-}
-
-
 // Main loop - 400hz
 void Sub::fast_loop()
 {
diff --git a/ArduSub/Sub.cpp b/ArduSub/Sub.cpp
index 2e705d7581..a8cdc99371 100644
--- a/ArduSub/Sub.cpp
+++ b/ArduSub/Sub.cpp
@@ -31,7 +31,6 @@ Sub::Sub()
           auto_mode(Auto_WP),
           guided_mode(Guided_WP),
           auto_yaw_mode(AUTO_YAW_LOOK_AT_NEXT_WP),
-          G_Dt(MAIN_LOOP_SECONDS),
           inertial_nav(ahrs),
           ahrs_view(ahrs, ROTATION_NONE),
           attitude_control(ahrs_view, aparm, motors, MAIN_LOOP_SECONDS),
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 974c05eb4f..5c17b31fd9 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -130,9 +130,6 @@ public:
 
     Sub(void);
 
-    // HAL::Callbacks implementation.
-    void loop() override;
-
 private:
 
     // key aircraft parameters passed to multiple libraries
@@ -142,9 +139,6 @@ private:
     Parameters g;
     ParametersG2 g2;
 
-    // main loop scheduler
-    AP_Scheduler scheduler{FUNCTOR_BIND_MEMBER(&Sub::fast_loop, void)};
-
     // primary input control channels
     RC_Channel *channel_roll;
     RC_Channel *channel_pitch;
@@ -343,11 +337,6 @@ private:
     int32_t condition_value;  // used in condition commands (eg delay, change alt, etc.)
     uint32_t condition_start;
 
-    // IMU variables
-    // Integration time (in seconds) for the gyros (DCM algorithm)
-    // Updated with the fast loop
-    float G_Dt;
-
     // Inertial Navigation
     AP_InertialNav_NavEKF inertial_nav;
 
@@ -412,7 +401,7 @@ private:
     static const AP_Param::Info var_info[];
     static const struct LogStructure log_structure[];
 
-    void fast_loop();
+    void fast_loop() override;
     void fifty_hz_loop();
     void update_batt_compass(void);
     void ten_hz_logging_loop();