diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index b83cae2b776..3797eb7f108 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -4457,14 +4457,6 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg)
handle_command_int(msg);
break;
-#if AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT
- case MAVLINK_MSG_ID_FENCE_POINT:
- case MAVLINK_MSG_ID_FENCE_FETCH_POINT:
- send_received_message_deprecation_warning("FENCE_FETCH_POINT");
- handle_fence_message(msg);
- break;
-#endif
-
#if AP_TERRAIN_AVAILABLE
case MAVLINK_MSG_ID_TERRAIN_DATA:
case MAVLINK_MSG_ID_TERRAIN_CHECK: {
@@ -4533,14 +4525,6 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg)
break;
#endif
-#if AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED
- case MAVLINK_MSG_ID_RALLY_POINT:
- case MAVLINK_MSG_ID_RALLY_FETCH_POINT:
- send_received_message_deprecation_warning("RALLY_FETCH_POINT");
- handle_common_rally_message(msg);
- break;
-#endif
-
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
if (option_enabled(Option::NOSTREAMOVERRIDE)) {
// options indicate we are to ignore this stream rate
diff --git a/libraries/GCS_MAVLink/GCS_Fence.cpp b/libraries/GCS_MAVLink/GCS_Fence.cpp
index b3bfb78a371..f1e305ff72e 100644
--- a/libraries/GCS_MAVLink/GCS_Fence.cpp
+++ b/libraries/GCS_MAVLink/GCS_Fence.cpp
@@ -40,28 +40,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_fence_enable(const mavlink_command_int
}
}
-#if AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT
-void GCS_MAVLINK::handle_fence_message(const mavlink_message_t &msg)
-{
- AC_Fence *fence = AP::fence();
- if (fence == nullptr) {
- return;
- }
- // send or receive fence points with GCS
- switch (msg.msgid) {
- case MAVLINK_MSG_ID_FENCE_POINT:
- case MAVLINK_MSG_ID_FENCE_FETCH_POINT:
- fence->polyfence().handle_msg(*this, msg);
- break;
- default:
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
- AP_HAL::panic("Unhandled common fence message");
-#endif
- break;
- }
-}
-#endif // AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT
-
// fence_send_mavlink_status - send fence status to ground station
void GCS_MAVLINK::send_fence_status() const
{
diff --git a/libraries/GCS_MAVLink/GCS_Rally.cpp b/libraries/GCS_MAVLink/GCS_Rally.cpp
deleted file mode 100644
index c19c9d55b5b..00000000000
--- a/libraries/GCS_MAVLink/GCS_Rally.cpp
+++ /dev/null
@@ -1,108 +0,0 @@
-/*
- GCS MAVLink functions related to upload and download of rally
- points with the ArduPilot-specific protocol comprised of
- MAVLINK_MSG_ID_RALLY_POINT and MAVLINK_MSG_ID_RALLY_FETCH_POINT.
-
- This program is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program. If not, see .
- */
-
-#include "GCS.h"
-#include
-#include
-
-#if AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED
-
-void GCS_MAVLINK::handle_rally_point(const mavlink_message_t &msg) const
-{
- AP_Rally *r = AP::rally();
- if (r == nullptr) {
- return;
- }
-
- mavlink_rally_point_t packet;
- mavlink_msg_rally_point_decode(&msg, &packet);
-
- if (packet.idx >= r->get_rally_total() ||
- packet.idx >= r->get_rally_max()) {
- send_text(MAV_SEVERITY_WARNING,"Bad rally point ID");
- return;
- }
-
- if (packet.count != r->get_rally_total()) {
- send_text(MAV_SEVERITY_WARNING,"Bad rally point count");
- return;
- }
-
- // sanity check location
- if (!check_latlng(packet.lat, packet.lng)) {
- return;
- }
-
- RallyLocation rally_point;
- rally_point.lat = packet.lat;
- rally_point.lng = packet.lng;
- rally_point.alt = packet.alt;
- rally_point.break_alt = packet.break_alt;
- rally_point.land_dir = packet.land_dir;
- rally_point.flags = packet.flags;
-
- if (!r->set_rally_point_with_index(packet.idx, rally_point)) {
- send_text(MAV_SEVERITY_CRITICAL, "Error setting rally point");
- }
-}
-
-void GCS_MAVLINK::handle_rally_fetch_point(const mavlink_message_t &msg)
-{
- AP_Rally *r = AP::rally();
- if (r == nullptr) {
- return;
- }
-
- mavlink_rally_fetch_point_t packet;
- mavlink_msg_rally_fetch_point_decode(&msg, &packet);
-
- if (packet.idx > r->get_rally_total()) {
- send_text(MAV_SEVERITY_WARNING, "Bad rally point ID");
- return;
- }
-
- RallyLocation rally_point;
- if (!r->get_rally_point_with_index(packet.idx, rally_point)) {
- send_text(MAV_SEVERITY_WARNING, "Failed to get rally point");
- return;
- }
-
- mavlink_msg_rally_point_send(chan, msg.sysid, msg.compid, packet.idx,
- r->get_rally_total(), rally_point.lat, rally_point.lng,
- rally_point.alt, rally_point.break_alt, rally_point.land_dir,
- rally_point.flags);
-}
-
-void GCS_MAVLINK::handle_common_rally_message(const mavlink_message_t &msg)
-{
- switch (msg.msgid) {
- case MAVLINK_MSG_ID_RALLY_POINT:
- handle_rally_point(msg);
- break;
- case MAVLINK_MSG_ID_RALLY_FETCH_POINT:
- handle_rally_fetch_point(msg);
- break;
- default:
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
- AP_HAL::panic("Unhandled common rally message");
-#endif
- break;
- }
-}
-#endif // AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED
diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h
index 2c276eca968..99f13c4cae2 100644
--- a/libraries/GCS_MAVLink/GCS_config.h
+++ b/libraries/GCS_MAVLink/GCS_config.h
@@ -71,14 +71,6 @@
#define AP_MAVLINK_FAILURE_CREATION_ENABLED 1
#endif
-// CODE_REMOVAL
-// ArduPilot 4.6 sends deprecation warnings for RALLY_POINT/RALLY_FETCH_POINT
-// ArduPilot 4.7 stops compiling them in by default
-// ArduPilot 4.8 removes the code entirely
-#ifndef AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED
-#define AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED 0
-#endif
-
// this is for both read and write messages:
#ifndef AP_MAVLINK_MSG_DEVICE_OP_ENABLED
#define AP_MAVLINK_MSG_DEVICE_OP_ENABLED HAL_GCS_ENABLED