From 445a461f12b42b9caef1cfb7018a671e4e5d5743 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 21 Jan 2021 18:02:07 +1100
Subject: [PATCH] AP_NavEKF2: remove getFilterTimeouts access methods

---
 libraries/AP_NavEKF2/AP_NavEKF2.cpp         | 21 ---------------------
 libraries/AP_NavEKF2/AP_NavEKF2.h           | 14 --------------
 libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp |  9 +++++++--
 libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp |  9 ---------
 libraries/AP_NavEKF2/AP_NavEKF2_core.h      | 13 -------------
 libraries/AP_NavEKF2/LogStructure.h         |  2 +-
 6 files changed, 8 insertions(+), 60 deletions(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index 9d62a3f802..b522315142 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -1307,27 +1307,6 @@ void NavEKF2::getFilterFaults(int8_t instance, uint16_t &faults) const
     }
 }
 
-/*
-  return filter timeout status as a bitmasked integer
-  0 = position measurement timeout
-  1 = velocity measurement timeout
-  2 = height measurement timeout
-  3 = magnetometer measurement timeout
-  4 = unassigned
-  5 = unassigned
-  6 = unassigned
-  7 = unassigned
-*/
-void NavEKF2::getFilterTimeouts(int8_t instance, uint8_t &timeouts) const
-{
-    if (instance < 0 || instance >= num_cores) instance = primary;
-    if (core) {
-        core[instance].getFilterTimeouts(timeouts);
-    } else {
-        timeouts = 0;
-    }
-}
-
 /*
   return filter status flags
 */
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.h b/libraries/AP_NavEKF2/AP_NavEKF2.h
index 058134abe9..ee9e1b4f47 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.h
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.h
@@ -220,20 +220,6 @@ public:
     */
     void  getFilterFaults(int8_t instance, uint16_t &faults) const;
 
-    /*
-    return filter timeout status as a bitmasked integer for the specified instance
-    An out of range instance (eg -1) returns data for the primary instance
-     0 = position measurement timeout
-     1 = velocity measurement timeout
-     2 = height measurement timeout
-     3 = magnetometer measurement timeout
-     4 = unassigned
-     5 = unassigned
-     6 = unassigned
-     7 = unassigned
-    */
-    void  getFilterTimeouts(int8_t instance, uint8_t &timeouts) const;
-
     /*
     return filter gps quality check status for the specified instance
     An out of range instance (eg -1) returns data for the primary instance
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp
index dfb7b0d5c3..45eb415d9d 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp
@@ -119,13 +119,18 @@ void NavEKF2_core::Log_Write_NKF4(uint64_t time_us) const
     float tasVar = 0;
     Vector2f offset;
     uint16_t _faultStatus=0;
-    uint8_t timeoutStatus=0;
+    const uint8_t timeoutStatus =
+        posTimeout<<0 |
+        velTimeout<<1 |
+        hgtTimeout<<2 |
+        magTimeout<<3 |
+        tasTimeout<<4;
+
     nav_filter_status solutionStatus {};
     nav_gps_status gpsStatus {};
     getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
     float tempVar = fmaxf(fmaxf(magVar.x,magVar.y),magVar.z);
     getFilterFaults(_faultStatus);
-    getFilterTimeouts(timeoutStatus);
     getFilterStatus(solutionStatus);
     getFilterGpsStatus(gpsStatus);
     const struct log_NKF4 pkt4{
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
index f9bd5f5ab1..7b92ad19c1 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
@@ -465,15 +465,6 @@ return filter timeout status as a bitmasked integer
  6 = unassigned
  7 = unassigned
 */
-void  NavEKF2_core::getFilterTimeouts(uint8_t &timeouts) const
-{
-    timeouts = (posTimeout<<0 |
-                velTimeout<<1 |
-                hgtTimeout<<2 |
-                magTimeout<<3 |
-                tasTimeout<<4);
-}
-
 // Return the navigation filter status message
 void  NavEKF2_core::getFilterStatus(nav_filter_status &status) const
 {
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.h b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
index d4ae686498..a8d15296c8 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_core.h
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
@@ -234,19 +234,6 @@ public:
     */
     void  getFilterFaults(uint16_t &faults) const;
 
-    /*
-    return filter timeout status as a bitmasked integer
-     0 = position measurement timeout
-     1 = velocity measurement timeout
-     2 = height measurement timeout
-     3 = magnetometer measurement timeout
-     5 = unassigned
-     6 = unassigned
-     7 = unassigned
-     7 = unassigned
-    */
-    void  getFilterTimeouts(uint8_t &timeouts) const;
-
     /*
     return filter gps quality check status
     */
diff --git a/libraries/AP_NavEKF2/LogStructure.h b/libraries/AP_NavEKF2/LogStructure.h
index eb4b97f37b..248413e630 100644
--- a/libraries/AP_NavEKF2/LogStructure.h
+++ b/libraries/AP_NavEKF2/LogStructure.h
@@ -178,7 +178,7 @@ struct PACKED log_NKF3 {
 // @Field: OFN: Most recent position recent magnitude (North component)
 // @Field: OFE: Most recent position recent magnitude (East component)
 // @Field: FS: Filter fault status
-// @Field: TS: Filter timeout status
+// @Field: TS: Filter timeout status bitmask (0:position measurement, 1:velocity measurement, 2:height measurement, 3:magnetometer measurement, 4:airspeed measurement)
 // @Field: SS: Filter solution status
 // @Field: GPS: Filter GPS status
 // @Field: PI: Primary core index