From 62b826953d49777e9c46c7ec0dc8169247d3e676 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 12 Apr 2017 21:16:21 +1000 Subject: [PATCH] AP_InertialSensor: use AP_Math rand_float() --- libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp | 6 ------ libraries/AP_InertialSensor/AP_InertialSensor_SITL.h | 1 - 2 files changed, 7 deletions(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp index b56df55344..f8b2a6a3ee 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp @@ -148,12 +148,6 @@ void AP_InertialSensor_SITL::timer_update(void) } } -// generate a random float between -1 and 1 -float AP_InertialSensor_SITL::rand_float(void) -{ - return ((((unsigned)random()) % 2000000) - 1.0e6) / 1.0e6; -} - float AP_InertialSensor_SITL::gyro_drift(void) { if (sitl->drift_speed == 0.0f || diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.h b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.h index b366cc261d..5166385131 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.h +++ b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.h @@ -21,7 +21,6 @@ public: private: bool init_sensor(void); void timer_update(); - float rand_float(void); float gyro_drift(void); void generate_accel(uint8_t instance); void generate_gyro(uint8_t instance);