AP_InertialNav: Remove unneeded methods

libraries/AP_InertialNav/AP_InertialNav.h

@@ -27,23 +27,14 @@ public:
     /**
      * update - updates velocity and position estimates using latest info from accelerometers
      * augmented with gps and baro readings
-     *
-     * @param dt : time since last update in seconds
      */
-    virtual void update(float dt) = 0;
+    virtual void update(void) = 0;
 
     /**
      * get_filter_status : returns filter status as a series of flags
      */
     virtual nav_filter_status get_filter_status() const = 0;
 
-    /**
-     * get_origin - returns the inertial navigation origin in lat/lon/alt
-     *
-     * @return origin Location
-     */
-    virtual struct Location get_origin() const = 0;
-
     //
     // XY Axis specific methods
     //
@@ -55,24 +46,6 @@ public:
      */
     virtual const Vector3f&    get_position() const = 0;
 
-    /**
-     * get_llh - updates the provided location with the latest calculated location including absolute altitude
-     *  returns true on success (i.e. the EKF knows it's latest position), false on failure
-     */
-    virtual bool get_location(struct Location &loc) const = 0;
-
-    /**
-     * get_latitude - returns the latitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
-     * @return
-     */
-    virtual int32_t     get_latitude() const = 0;
-
-    /**
-     * get_longitude - returns the longitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
-     * @return
-     */
-    virtual int32_t     get_longitude() const = 0;
-
     /**
      * get_velocity - returns the current velocity in cm/s
      *

libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp

@@ -12,7 +12,7 @@
 /**
    update internal state
 */
-void AP_InertialNav_NavEKF::update(float dt)
+void AP_InertialNav_NavEKF::update()
 {
     // get the NE position relative to the local earth frame origin
     Vector2f posNE;
@@ -27,9 +27,6 @@ void AP_InertialNav_NavEKF::update(float dt)
         _relpos_cm.z = - posD * 100; // convert from m in NED to cm in NEU
     }
 
-    // get the absolute WGS-84 position
-    _haveabspos = _ahrs_ekf.get_position(_abspos);
-
     // get the velocity relative to the local earth frame
     Vector3f velNED;
     if (_ahrs_ekf.get_velocity_NED(velNED)) {
@@ -48,19 +45,6 @@ nav_filter_status AP_InertialNav_NavEKF::get_filter_status() const
     return status;
 }
 
-/**
- * get_origin - returns the inertial navigation origin in lat/lon/alt
- */
-struct Location AP_InertialNav_NavEKF::get_origin() const
-{
-    struct Location ret;
-     if (!_ahrs_ekf.get_origin(ret)) {
-         // initialise location to all zeros if EKF origin not yet set
-         ret.zero();
-     }
-    return ret;
-}
-
 /**
  * get_position - returns the current position relative to the home location in cm.
  *
@@ -71,32 +55,6 @@ const Vector3f &AP_InertialNav_NavEKF::get_position(void) const
     return _relpos_cm;
 }
 
-/**
- * get_location - updates the provided location with the latest calculated location
- *  returns true on success (i.e. the EKF knows it's latest position), false on failure
- */
-bool AP_InertialNav_NavEKF::get_location(struct Location &loc) const
-{
-    return _ahrs_ekf.get_location(loc);
-}
-
-/**
- * get_latitude - returns the latitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
- */
-int32_t AP_InertialNav_NavEKF::get_latitude() const
-{
-    return _abspos.lat;
-}
-
-/**
- * get_longitude - returns the longitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
- * @return
- */
-int32_t AP_InertialNav_NavEKF::get_longitude() const
-{
-    return _abspos.lng;
-}
-
 /**
  * get_velocity - returns the current velocity in cm/s
  *

libraries/AP_InertialNav/AP_InertialNav_NavEKF.h

@@ -13,27 +13,19 @@ public:
     // Constructor
     AP_InertialNav_NavEKF(AP_AHRS_NavEKF &ahrs) :
         AP_InertialNav(),
-        _haveabspos(false),
         _ahrs_ekf(ahrs)
         {}
 
     /**
        update internal state
     */
-    void        update(float dt) override;
+    void        update() override;
 
     /**
      * get_filter_status - returns filter status as a series of flags
      */
     nav_filter_status get_filter_status() const override;
 
-    /**
-     * get_origin - returns the inertial navigation origin in lat/lon/alt
-     *
-     * @return origin Location
-     */
-    struct Location get_origin() const override;
-
     /**
      * get_position - returns the current position relative to the home location in cm.
      *
@@ -43,23 +35,6 @@ public:
      */
     const Vector3f&    get_position() const override;
 
-    /**
-     * get_llh - updates the provided location with the latest calculated location including absolute altitude
-     *  returns true on success (i.e. the EKF knows it's latest position), false on failure
-     */
-    bool get_location(struct Location &loc) const override;
-
-    /**
-     * get_latitude - returns the latitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
-     */
-    int32_t     get_latitude() const override;
-
-    /**
-     * get_longitude - returns the longitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
-     * @return
-     */
-    int32_t     get_longitude() const override;
-
     /**
      * get_velocity - returns the current velocity in cm/s
      *
@@ -95,7 +70,5 @@ public:
 private:
     Vector3f _relpos_cm;   // NEU
     Vector3f _velocity_cm; // NEU
-    struct Location _abspos;
-    bool _haveabspos;
     AP_AHRS_NavEKF &_ahrs_ekf;
 };