From 1122642f50d2205404ab9f2718a6409f1e1f27d7 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 9 Jun 2021 21:31:34 +1000
Subject: [PATCH] AP_AHRS: remove HIL support

---
 libraries/AP_AHRS/AP_AHRS.h          |  3 ---
 libraries/AP_AHRS/AP_AHRS_DCM.cpp    |  6 ------
 libraries/AP_AHRS/AP_AHRS_DCM.h      |  3 ---
 libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 20 --------------------
 libraries/AP_AHRS/AP_AHRS_NavEKF.h   |  3 ---
 5 files changed, 35 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index 6cabb5c32b..9688d54b6c 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -220,9 +220,6 @@ public:
     // reset the current attitude, used on new IMU calibration
     virtual void reset(bool recover_eulers=false) = 0;
 
-    // reset the current attitude, used on new IMU calibration
-    virtual void reset_attitude(const float &roll, const float &pitch, const float &yaw) = 0;
-
     // return the average size of the roll/pitch error estimate
     // since last call
     virtual float get_error_rp(void) const = 0;
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
index 7095a80180..6f6486b42e 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@@ -239,12 +239,6 @@ AP_AHRS_DCM::reset(bool recover_eulers)
     _last_startup_ms = AP_HAL::millis();
 }
 
-// reset the current attitude, used by HIL
-void AP_AHRS_DCM::reset_attitude(const float &_roll, const float &_pitch, const float &_yaw)
-{
-    _dcm_matrix.from_euler(_roll, _pitch, _yaw);
-}
-
 /*
  *  check the DCM matrix for pathological values
  */
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.h b/libraries/AP_AHRS/AP_AHRS_DCM.h
index c4a2f580e3..84ae8addb7 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.h
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.h
@@ -69,9 +69,6 @@ public:
     void            update(bool skip_ins_update=false) override;
     void            reset(bool recover_eulers = false) override;
 
-    // reset the current attitude, used on new IMU calibration
-    void reset_attitude(const float &roll, const float &pitch, const float &yaw) override;
-
     // dead-reckoning support
     virtual bool get_position(struct Location &loc) const override;
 
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index 22618c57b3..b9eed933c6 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -517,26 +517,6 @@ void AP_AHRS_NavEKF::reset(bool recover_eulers)
 #endif
 }
 
-// reset the current attitude, used on new IMU calibration
-void AP_AHRS_NavEKF::reset_attitude(const float &_roll, const float &_pitch, const float &_yaw)
-{
-    // support locked access functions to AHRS data
-    WITH_SEMAPHORE(_rsem);
-    
-    AP_AHRS_DCM::reset_attitude(_roll, _pitch, _yaw);
-    _dcm_attitude = {roll, pitch, yaw};
-#if HAL_NAVEKF2_AVAILABLE
-    if (_ekf2_started) {
-        _ekf2_started = EKF2.InitialiseFilter();
-    }
-#endif
-#if HAL_NAVEKF3_AVAILABLE
-    if (_ekf3_started) {
-        _ekf3_started = EKF3.InitialiseFilter();
-    }
-#endif
-}
-
 // dead-reckoning support
 bool AP_AHRS_NavEKF::get_position(struct Location &loc) const
 {
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
index 494b3828b7..35ef8447ea 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
@@ -78,9 +78,6 @@ public:
     void            update(bool skip_ins_update=false) override;
     void            reset(bool recover_eulers = false) override;
 
-    // reset the current attitude, used on new IMU calibration
-    void reset_attitude(const float &roll, const float &pitch, const float &yaw) override;
-
     // dead-reckoning support
     bool get_position(struct Location &loc) const override;