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InertialNav: remove accessor to set time_constants

This commit is contained in:
Randy Mackay 2014-08-01 14:46:39 +09:00
parent 8a07701d07
commit 538372c02c
2 changed files with 0 additions and 45 deletions
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20
libraries/AP_InertialNav/AP_InertialNav.cpp
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@ -121,16 +121,6 @@ void AP_InertialNav::update(float dt)
// XY Axis specific methods // 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 // position_ok - return true if position has been initialised and have received gps data within 3 seconds
bool AP_InertialNav::position_ok() const bool AP_InertialNav::position_ok() const
{ {
@ -303,16 +293,6 @@ float AP_InertialNav::get_velocity_xy() const
// Z Axis methods // 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 // check_baro - check if new baro readings have arrived and use them to correct vertical accelerometer offsets
void AP_InertialNav::check_baro() void AP_InertialNav::check_baro()
{ {

25
libraries/AP_InertialNav/AP_InertialNav.h
View File

@ -74,16 +74,6 @@ public:
// XY Axis specific methods // 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 * position_ok - true if inertial based altitude and position can be trusted
* @return * @return
@ -157,16 +147,6 @@ public:
// Z Axis methods // 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 * altitude_ok - returns true if inertial based altitude and position can be trusted
* @return * @return
@ -256,11 +236,6 @@ protected:
/** /**
* update gains from time constant. * 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(); void update_gains();