From 126065e95ceaf76f01bfec04142212840997f4c7 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 5 Nov 2018 12:52:20 +1100
Subject: [PATCH] AP_Mount: trim out dead getDebug method

---
 libraries/AP_Mount/SoloGimbalEKF.cpp | 13 -------------
 libraries/AP_Mount/SoloGimbalEKF.h   |  3 ---
 2 files changed, 16 deletions(-)

diff --git a/libraries/AP_Mount/SoloGimbalEKF.cpp b/libraries/AP_Mount/SoloGimbalEKF.cpp
index c12a5bf6ae..ebdb37ff36 100644
--- a/libraries/AP_Mount/SoloGimbalEKF.cpp
+++ b/libraries/AP_Mount/SoloGimbalEKF.cpp
@@ -930,19 +930,6 @@ void SoloGimbalEKF::fixCovariance()
     }
 }
 
-// return data for debugging EKF
-void SoloGimbalEKF::getDebug(float &tilt, Vector3f &velocity, Vector3f &euler, Vector3f &gyroBias) const
-{
-    tilt = TiltCorrection;
-    velocity = state.velocity;
-    state.quat.to_euler(euler.x, euler.y, euler.z);
-    if (dtIMU < 1.0e-6f) {
-        gyroBias.zero();
-    } else {
-        gyroBias = state.delAngBias / dtIMU;
-    }
-}
-
 // get gyro bias data
 void SoloGimbalEKF::getGyroBias(Vector3f &gyroBias) const
 {
diff --git a/libraries/AP_Mount/SoloGimbalEKF.h b/libraries/AP_Mount/SoloGimbalEKF.h
index 1f50f00692..b7033ef6b4 100644
--- a/libraries/AP_Mount/SoloGimbalEKF.h
+++ b/libraries/AP_Mount/SoloGimbalEKF.h
@@ -82,9 +82,6 @@ public:
 
     void reset();
 
-    // get some debug information
-    void getDebug(float &tilt, Vector3f &velocity, Vector3f &euler, Vector3f &gyroBias) const;
-
     // get gyro bias data
     void getGyroBias(Vector3f &gyroBias) const;