From 538372c02c11cdb2f0f6900e7744a4e19390a2e9 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 1 Aug 2014 14:46:39 +0900 Subject: [PATCH] InertialNav: remove accessor to set time_constants --- libraries/AP_InertialNav/AP_InertialNav.cpp | 20 ----------------- libraries/AP_InertialNav/AP_InertialNav.h | 25 --------------------- 2 files changed, 45 deletions(-) diff --git a/libraries/AP_InertialNav/AP_InertialNav.cpp b/libraries/AP_InertialNav/AP_InertialNav.cpp index a9a7a0be56..b30bc21c65 100644 --- a/libraries/AP_InertialNav/AP_InertialNav.cpp +++ b/libraries/AP_InertialNav/AP_InertialNav.cpp @@ -121,16 +121,6 @@ void AP_InertialNav::update(float dt) // XY Axis specific methods // -// set time constant - set timeconstant used by complementary filter -void AP_InertialNav::set_time_constant_xy( float time_constant_in_seconds ) -{ - // ensure it's a reasonable value - if (time_constant_in_seconds > 0.0f && time_constant_in_seconds < 30.0f) { - _time_constant_xy = time_constant_in_seconds; - update_gains(); - } -} - // position_ok - return true if position has been initialised and have received gps data within 3 seconds bool AP_InertialNav::position_ok() const { @@ -303,16 +293,6 @@ float AP_InertialNav::get_velocity_xy() const // Z Axis methods // -// set time constant - set timeconstant used by complementary filter -void AP_InertialNav::set_time_constant_z( float time_constant_in_seconds ) -{ - // ensure it's a reasonable value - if (time_constant_in_seconds > 0.0f && time_constant_in_seconds < 30.0f) { - _time_constant_z = time_constant_in_seconds; - update_gains(); - } -} - // check_baro - check if new baro readings have arrived and use them to correct vertical accelerometer offsets void AP_InertialNav::check_baro() { diff --git a/libraries/AP_InertialNav/AP_InertialNav.h b/libraries/AP_InertialNav/AP_InertialNav.h index d320b40aad..ead3bcf7bd 100644 --- a/libraries/AP_InertialNav/AP_InertialNav.h +++ b/libraries/AP_InertialNav/AP_InertialNav.h @@ -74,16 +74,6 @@ public: // XY Axis specific methods // - /** - * set_time_constant_xy - sets time constant used by complementary filter for horizontal position estimate - * - * smaller values means higher influence of gps on position estimation - * bigger values favor the integrated accelerometer data for position estimation - * - * @param time_constant_in_seconds : constant in seconds; 0 < constant < 30 must hold - */ - void set_time_constant_xy( float time_constant_in_seconds ); - /** * position_ok - true if inertial based altitude and position can be trusted * @return @@ -157,16 +147,6 @@ public: // Z Axis methods // - /** - * set_time_constant_z - sets timeconstant used by complementary filter for vertical position estimation - * - * smaller values means higher influence of barometer in altitude estimation - * bigger values favor the integrated accelerometer data for altitude estimation - * - * @param time_constant_in_seconds : constant in s; 0 < constant < 30 must hold - */ - void set_time_constant_z( float time_constant_in_seconds ); - /** * altitude_ok - returns true if inertial based altitude and position can be trusted * @return @@ -256,11 +236,6 @@ protected: /** * update gains from time constant. - * - * The time constants (in s) can be set with the following methods: - * - * @see: AP_InertialNav::set_time_constant_xy(float) - * @see: AP_InertialNav::set_time_constant_z(float) */ void update_gains();