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AP_Arming: use HarmonicNotch class

This commit is contained in:
Andrew Tridgell 2022-04-15 17:39:29 +10:00 committed by Randy Mackay
parent 7bb139a311
commit 699d624ca1
1 changed files with 0 additions and 8 deletions
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8
libraries/AP_Arming/AP_Arming.cpp
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@ -392,14 +392,6 @@ bool AP_Arming::ins_checks(bool report)
check_failed(ARMING_CHECK_INS, report, "%s", failure_msg);
return false;
}
#if HAL_INS_NUM_HARMONIC_NOTCH_FILTERS > 1
if (ins.gyro_harmonic_notch_enabled(0) &&
ins.gyro_harmonic_notch_enabled(1) &&
ins.get_gyro_harmonic_notch_tracking_mode(0) != HarmonicNotchDynamicMode::Fixed &&
ins.get_gyro_harmonic_notch_tracking_mode(0) != ins.get_gyro_harmonic_notch_tracking_mode(1)) {
check_failed(ARMING_CHECK_INS, report, "conflicting notch filters");
}
#endif
}
#if HAL_GYROFFT_ENABLED