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AP_NavEKF3: Remove unused class variable rngBcnTimeout

This commit is contained in:
Paul Riseborough 2021-06-22 14:44:07 +10:00 committed by Randy Mackay
parent 9d85a4292e
commit 1281033931
3 changed files with 0 additions and 4 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
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@ -328,14 +328,12 @@ void NavEKF3_core::setAidingMode()
PV_AidingMode = AID_NONE;
posTimeout = true;
velTimeout = true;
rngBcnTimeout = true;
tasTimeout = true;
gpsNotAvailable = true;
} else if (posAidLossCritical) {
// if the loss of position is critical, declare all sources of position aiding as being timed out
posTimeout = true;
velTimeout = !optFlowUsed && !gpsVelUsed && !bodyOdmUsed;
rngBcnTimeout = true;
gpsNotAvailable = true;
}

1
libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -342,7 +342,6 @@ void NavEKF3_core::InitialiseVariables()
lastRngBcnPassTime_ms = 0;
rngBcnTestRatio = 0.0f;
rngBcnHealth = false;
rngBcnTimeout = true;
varInnovRngBcn = 0.0f;
innovRngBcn = 0.0f;
memset(&lastTimeRngBcn_ms, 0, sizeof(lastTimeRngBcn_ms));

1
libraries/AP_NavEKF3/AP_NavEKF3_core.h
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@ -1216,7 +1216,6 @@ private:
uint32_t lastRngBcnPassTime_ms; // time stamp when the range beacon measurement last passed innovation consistency checks (msec)
float rngBcnTestRatio; // Innovation test ratio for range beacon measurements
bool rngBcnHealth; // boolean true if range beacon measurements have passed innovation consistency check
bool rngBcnTimeout; // boolean true if range beacon measurements have failed innovation consistency checks for too long
float varInnovRngBcn; // range beacon observation innovation variance (m^2)
float innovRngBcn; // range beacon observation innovation (m)
uint32_t lastTimeRngBcn_ms[4]; // last time we received a range beacon measurement (msec)