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AP_AHRS: remove flying time and bool

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This commit is contained in:
Peter Hall 2020-01-06 22:37:53 +00:00 committed by WickedShell
parent 1f20cc10f8
commit 775e4c90da
1 changed files with 0 additions and 36 deletions
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36
libraries/AP_AHRS/AP_AHRS.h
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@ -96,38 +96,6 @@ public:
return _flags.fly_forward; return _flags.fly_forward;
} }
/*
set the "likely flying" flag. This is not guaranteed to be
accurate, but is the vehicle codes best guess as to the whether
the vehicle is currently flying
*/
void set_likely_flying(bool b) {
if (b && !_flags.likely_flying) {
_last_flying_ms = AP_HAL::millis();
}
_flags.likely_flying = b;
}
/*
get the likely flying status. Returns true if the vehicle code
thinks we are flying at the moment. Not guaranteed to be
accurate
*/
bool get_likely_flying(void) const {
return _flags.likely_flying;
}
/*
return time in milliseconds since likely_flying was set
true. Returns zero if likely_flying is currently false
*/
uint32_t get_time_flying_ms(void) const {
if (!_flags.likely_flying) {
return 0;
}
return AP_HAL::millis() - _last_flying_ms;
}
AHRS_VehicleClass get_vehicle_class(void) const { AHRS_VehicleClass get_vehicle_class(void) const {
return _vehicle_class; return _vehicle_class;
} }
@ -620,12 +588,8 @@ protected:
uint8_t fly_forward : 1; // 1 if we can assume the aircraft will be flying forward on its X axis uint8_t fly_forward : 1; // 1 if we can assume the aircraft will be flying forward on its X axis
uint8_t correct_centrifugal : 1; // 1 if we should correct for centrifugal forces (allows arducopter to turn this off when motors are disarmed) uint8_t correct_centrifugal : 1; // 1 if we should correct for centrifugal forces (allows arducopter to turn this off when motors are disarmed)
uint8_t wind_estimation : 1; // 1 if we should do wind estimation uint8_t wind_estimation : 1; // 1 if we should do wind estimation
uint8_t likely_flying : 1; // 1 if vehicle is probably flying
} _flags; } _flags;
// time when likely_flying last went true
uint32_t _last_flying_ms;
// calculate sin/cos of roll/pitch/yaw from rotation // calculate sin/cos of roll/pitch/yaw from rotation
void calc_trig(const Matrix3f &rot, void calc_trig(const Matrix3f &rot,
float &cr, float &cp, float &cy, float &cr, float &cp, float &cy,