From 5ad0ac6727348b317ada6dce732542e8421158e7 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 17 Dec 2020 15:30:37 +1100
Subject: [PATCH] AP_NavEKF3: remove unused getAccelNED method

---
 libraries/AP_NavEKF3/AP_NavEKF3.cpp         | 8 --------
 libraries/AP_NavEKF3/AP_NavEKF3.h           | 3 ---
 libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp | 6 ------
 libraries/AP_NavEKF3/AP_NavEKF3_core.h      | 3 ---
 4 files changed, 20 deletions(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
index e9e117af4e..39b8ab77d8 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
@@ -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
 {
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.h b/libraries/AP_NavEKF3/AP_NavEKF3.h
index 556aa56f4c..bec3be967a 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.h
@@ -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;
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
index 4a250d4660..6e18779d42 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
@@ -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
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
index b52b6df5e9..baab4aee9b 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
@@ -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;