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AP_OpticalFlow_Onboard: remove gyro_cb

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Not needed anymore
This commit is contained in:
Julien Beraud 2017-01-17 18:18:49 +01:00 committed by Andrew Tridgell
parent 710875d3b9
commit 677a2f600f
2 changed files with 1 additions and 13 deletions
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13
libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp
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@ -37,9 +37,7 @@ AP_OpticalFlow_Onboard::AP_OpticalFlow_Onboard(OpticalFlow &_frontend) :
void AP_OpticalFlow_Onboard::init(void)
{
/* register callback to get gyro data */
hal.opticalflow->init(
FUNCTOR_BIND_MEMBER(&AP_OpticalFlow_Onboard::_get_gyro,
void, float&, float&, float&));
hal.opticalflow->init();
}
void AP_OpticalFlow_Onboard::update()
@ -102,13 +100,4 @@ void AP_OpticalFlow_Onboard::update()
#endif
}
void AP_OpticalFlow_Onboard::_get_gyro(float &rate_x, float &rate_y,
float &rate_z)
{
Vector3f rates = get_ahrs().get_gyro();
rate_x = rates.x;
rate_y = rates.y;
rate_z = rates.z;
}
#endif

1
libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h
View File

@ -28,6 +28,5 @@ public:
void init(void);
void update(void);
private:
void _get_gyro(float&, float&, float&);
uint32_t _last_read_ms;
};