Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_AHRS: removed inhibitGps and inhibitGpsVertVel options

Browse Source 
these were unused
This commit is contained in:
Andrew Tridgell 2020-11-21 06:38:48 +11:00
parent 603e0c090d
commit 0a80fce8b8
2 changed files with 0 additions and 29 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

26
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
View File

@ -1529,32 +1529,6 @@ void AP_AHRS_NavEKF::writeExtNavVelData(const Vector3f &vel, float err, uint32_t
#endif
}
// inhibit GPS usage
uint8_t AP_AHRS_NavEKF::setInhibitGPS(void)
{
switch (ekf_type()) {
case EKFType::NONE:
return 0;
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
return EKF2.setInhibitGPS();
#endif
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
return EKF3.setInhibitGPS();
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
case EKFType::SITL:
return 0;
#endif
}
// since there is no default case above, this is unreachable
return 0;
}
// get speed limit
void AP_AHRS_NavEKF::getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler) const
{

3
libraries/AP_AHRS/AP_AHRS_NavEKF.h
View File

@ -188,9 +188,6 @@ public:
// Write velocity data from an external navigation system
void writeExtNavVelData(const Vector3f &vel, float err, uint32_t timeStamp_ms, uint16_t delay_ms) override;
// inhibit GPS usage
uint8_t setInhibitGPS(void);
// get speed limit
void getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler) const;