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Rover: remove ability to use DCM as AHRS

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This commit is contained in:
Peter Barker 2021-07-20 22:16:23 +10:00 committed by Peter Barker
parent 271519f6e2
commit 3b15ff0d42
3 changed files with 1 additions and 6 deletions
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3
Rover/Log.cpp
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@ -12,10 +12,9 @@ void Rover::Log_Write_Attitude()
ahrs.Write_Attitude(targets); ahrs.Write_Attitude(targets);
#if AP_AHRS_NAVEKF_AVAILABLE
AP::ahrs_navekf().Log_Write(); AP::ahrs_navekf().Log_Write();
ahrs.Write_AHRS2(); ahrs.Write_AHRS2();
#endif
ahrs.Write_POS(); ahrs.Write_POS();
// log steering rate controller // log steering rate controller

2
Rover/Parameters.cpp
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@ -343,7 +343,6 @@ const AP_Param::Info Rover::var_info[] = {
// @Path: ../libraries/AP_GPS/AP_GPS.cpp // @Path: ../libraries/AP_GPS/AP_GPS.cpp
GOBJECT(gps, "GPS", AP_GPS), GOBJECT(gps, "GPS", AP_GPS),
#if AP_AHRS_NAVEKF_AVAILABLE
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
// @Group: EK2_ // @Group: EK2_
// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
@ -354,7 +353,6 @@ const AP_Param::Info Rover::var_info[] = {
// @Group: EK3_ // @Group: EK3_
// @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp // @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
GOBJECTN(ahrs.EKF3, NavEKF3, "EK3_", NavEKF3), GOBJECTN(ahrs.EKF3, NavEKF3, "EK3_", NavEKF3),
#endif
#endif #endif
// @Group: RPM // @Group: RPM

2
Rover/Rover.h
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@ -162,9 +162,7 @@ private:
AP_L1_Control L1_controller{ahrs, nullptr}; AP_L1_Control L1_controller{ahrs, nullptr};
#if AP_AHRS_NAVEKF_AVAILABLE
OpticalFlow optflow; OpticalFlow optflow;
#endif
#if OSD_ENABLED || OSD_PARAM_ENABLED #if OSD_ENABLED || OSD_PARAM_ENABLED
AP_OSD osd; AP_OSD osd;