From f1b1068824a880ac25d7e2860d1d4aff035ca222 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Thu, 17 Jun 2021 11:05:31 +0200
Subject: [PATCH] commander: remove unused mode/main_state methods

With the previous changes these seem no longer required.
---
 src/modules/commander/Commander.cpp | 67 -----------------------------
 src/modules/commander/Commander.hpp |  1 -
 2 files changed, 68 deletions(-)

diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 0285bf748b..20de3124cd 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -641,73 +641,6 @@ transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason)
 	return arming_res;
 }
 
-transition_result_t
-Commander::try_mode_change(main_state_t desired_mode)
-{
-	transition_result_t res = main_state_transition(_status, desired_mode, _status_flags, _internal_state);
-
-	if (res == TRANSITION_DENIED) {
-
-		print_reject_mode(desired_mode);
-
-		if (desired_mode == commander_state_s::MAIN_STATE_OFFBOARD) {
-			/* offboard does not have a fallback */
-			return res;
-		}
-
-		if (desired_mode == commander_state_s::MAIN_STATE_AUTO_MISSION) {
-			desired_mode = commander_state_s::MAIN_STATE_AUTO_LOITER;
-			res = main_state_transition(_status, desired_mode, _status_flags, _internal_state);
-		}
-
-		if (desired_mode == commander_state_s::MAIN_STATE_AUTO_RTL && (res == TRANSITION_DENIED)) {
-			desired_mode = commander_state_s::MAIN_STATE_AUTO_LOITER;
-			res = main_state_transition(_status, desired_mode, _status_flags, _internal_state);
-		}
-
-		if (desired_mode == commander_state_s::MAIN_STATE_AUTO_LAND && (res == TRANSITION_DENIED)) {
-			desired_mode = commander_state_s::MAIN_STATE_AUTO_LOITER;
-			res = main_state_transition(_status, desired_mode, _status_flags, _internal_state);
-		}
-
-		if (desired_mode == commander_state_s::MAIN_STATE_AUTO_TAKEOFF && (res == TRANSITION_DENIED)) {
-			desired_mode = commander_state_s::MAIN_STATE_AUTO_LOITER;
-			res = main_state_transition(_status, desired_mode, _status_flags, _internal_state);
-		}
-
-		if (desired_mode == commander_state_s::MAIN_STATE_AUTO_FOLLOW_TARGET && (res == TRANSITION_DENIED)) {
-			desired_mode = commander_state_s::MAIN_STATE_AUTO_LOITER;
-			res = main_state_transition(_status, desired_mode, _status_flags, _internal_state);
-		}
-
-		if (desired_mode == commander_state_s::MAIN_STATE_AUTO_LOITER && (res == TRANSITION_DENIED)) {
-			/* fall back to position control */
-			desired_mode = commander_state_s::MAIN_STATE_POSCTL;
-			res = main_state_transition(_status, desired_mode, _status_flags, _internal_state);
-		}
-
-		if (desired_mode == commander_state_s::MAIN_STATE_POSCTL && (res == TRANSITION_DENIED)) {
-			/* fall back to altitude control */
-			desired_mode = commander_state_s::MAIN_STATE_ALTCTL;
-			res = main_state_transition(_status, desired_mode, _status_flags, _internal_state);
-		}
-
-		if (desired_mode == commander_state_s::MAIN_STATE_ALTCTL && (res == TRANSITION_DENIED)) {
-			/* fall back to stabilized */
-			desired_mode = commander_state_s::MAIN_STATE_STAB;
-			res = main_state_transition(_status, desired_mode, _status_flags, _internal_state);
-		}
-
-		if (desired_mode == commander_state_s::MAIN_STATE_STAB && (res == TRANSITION_DENIED)) {
-			/* fall back to manual */
-			desired_mode = commander_state_s::MAIN_STATE_MANUAL;
-			res = main_state_transition(_status, desired_mode, _status_flags, _internal_state);
-		}
-	}
-
-	return res;
-}
-
 Commander::Commander() :
 	ModuleParams(nullptr),
 	_failure_detector(this)
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index 29b170f21d..61182bfe66 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -125,7 +125,6 @@ private:
 
 	transition_result_t arm(arm_disarm_reason_t calling_reason, bool run_preflight_checks = true);
 	transition_result_t disarm(arm_disarm_reason_t calling_reason);
-	transition_result_t try_mode_change(main_state_t desired_mode);
 
 	void battery_status_check();