From 96f4e72a8a540e6fdc23abd1562c32b244b08e7f Mon Sep 17 00:00:00 2001
From: Jacob Dahl <dahl.jakejacob@gmail.com>
Date: Wed, 15 May 2024 10:36:52 -0600
Subject: [PATCH] remove parameters from mavlink

---
 .../cdcacm_autostart/cdcacm_autostart.cpp     |  6 ++--
 src/modules/mavlink/mavlink_params.c          | 29 -------------------
 2 files changed, 3 insertions(+), 32 deletions(-)

diff --git a/src/drivers/cdcacm_autostart/cdcacm_autostart.cpp b/src/drivers/cdcacm_autostart/cdcacm_autostart.cpp
index 377a72a9d444..74ad64050e8f 100644
--- a/src/drivers/cdcacm_autostart/cdcacm_autostart.cpp
+++ b/src/drivers/cdcacm_autostart/cdcacm_autostart.cpp
@@ -210,7 +210,7 @@ void CdcAcmAutostart::state_connecting()
 	}
 
 	if (_sys_usb_auto.get() == 2) {
-		PX4_INFO("Starting mavlink on %s (MAV_USB_ENABLE=1)", USB_DEVICE_PATH);
+		PX4_INFO("Starting mavlink on %s (SYS_USB_AUTO=2)", USB_DEVICE_PATH);
 
 		if (start_mavlink()) {
 			_state = UsbAutoStartState::connected;
@@ -639,8 +639,8 @@ int CdcAcmAutostart::print_usage(const char *reason)
 		R"DESCR_STR(
 ### Description
 This module listens on USB and auto-configures the protocol depending on the bytes received.
-The supported protocols are: MAVLink, nsh, and ublox serial passthrough. If the parameter MAV_USB_ENABLE in
-set the module will only try to start mavlink as long as the USB VBUS is detected. Otherwise it will spin
+The supported protocols are: MAVLink, nsh, and ublox serial passthrough. If the parameter SYS_USB_AUTO=2
+the module will only try to start mavlink as long as the USB VBUS is detected. Otherwise it will spin
 and continue to check for VBUS and start mavlink once it is detected.
 )DESCR_STR");
 
diff --git a/src/modules/mavlink/mavlink_params.c b/src/modules/mavlink/mavlink_params.c
index 588063b15098..8a793f5e5fb9 100644
--- a/src/modules/mavlink/mavlink_params.c
+++ b/src/modules/mavlink/mavlink_params.c
@@ -155,32 +155,3 @@ PARAM_DEFINE_INT32(MAV_HB_FORW_EN, 1);
  * @max 250
  */
 PARAM_DEFINE_INT32(MAV_RADIO_TOUT, 5);
-
-/**
- * Always start MAVLink on USB
- *
- * @value 0 Auto-detect
- * @value 1 Always MAVLink
- * @group MAVLink
- */
-PARAM_DEFINE_INT32(MAV_USB_ENABLE, 1);
-
-/**
- * Specify MAVLink mode for USB port
- *
- * @value 0 normal
- * @value 1 custom
- * @value 2 onboard
- * @value 3 osd
- * @value 4 magic
- * @value 5 config
- * @value 6 iridium
- * @value 7 minimal
- * @value 8 extvision
- * @value 9 extvisionmin
- * @value 10 gimbal
- * @value 11 onboard_low_bandwidth
- * @value 12 uavionix
- * @group MAVLink
- */
-PARAM_DEFINE_INT32(MAV_USB_MODE, 2);