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AP_NavEKF3: remove unused getAccelNED method

This commit is contained in:
Peter Barker 2020-12-17 15:30:37 +11:00 committed by Peter Barker
parent 6b60bae068
commit 5ad0ac6727
4 changed files with 0 additions and 20 deletions
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8
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -1170,14 +1170,6 @@ float NavEKF3::getPosDownDerivative(int8_t instance) const
return 0.0f;
}
// This returns the specific forces in the NED frame
void NavEKF3::getAccelNED(Vector3f &accelNED) const
{
if (core) {
core[primary].getAccelNED(accelNED);
}
}
// return body axis gyro bias estimates in rad/sec
void NavEKF3::getGyroBias(int8_t instance, Vector3f &gyroBias) const
{

3
libraries/AP_NavEKF3/AP_NavEKF3.h
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@ -93,9 +93,6 @@ public:
// but will always be kinematically consistent with the z component of the EKF position state
float getPosDownDerivative(int8_t instance) const;
// This returns the specific forces in the NED frame
void getAccelNED(Vector3f &accelNED) const;
// return body axis gyro bias estimates in rad/sec for the specified instance
// An out of range instance (eg -1) returns data for the primary instance
void getGyroBias(int8_t instance, Vector3f &gyroBias) const;

6
libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
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@ -216,12 +216,6 @@ float NavEKF3_core::getPosDownDerivative(void) const
return vertCompFiltState.vel + velOffsetNED.z;
}
// This returns the specific forces in the NED frame
void NavEKF3_core::getAccelNED(Vector3f &accelNED) const {
accelNED = velDotNED;
accelNED.z -= GRAVITY_MSS;
}
// Write the last estimated NE position of the body frame origin relative to the reference point (m).
// Return true if the estimate is valid
bool NavEKF3_core::getPosNE(Vector2f &posNE) const

3
libraries/AP_NavEKF3/AP_NavEKF3_core.h
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@ -125,9 +125,6 @@ public:
// but will always be kinematically consistent with the z component of the EKF position state
float getPosDownDerivative(void) const;
// This returns the specific forces in the NED frame
void getAccelNED(Vector3f &accelNED) const;
// return body axis gyro bias estimates in rad/sec
void getGyroBias(Vector3f &gyroBias) const;