From 837df291799ad56ab87abf67b86d7ac4297dc80b Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Thu, 5 Aug 2021 12:40:52 +0900 Subject: [PATCH] AP_NavEKF3: remove unused EK3_GSF_DELAY param --- libraries/AP_NavEKF3/AP_NavEKF3.cpp | 10 +--------- libraries/AP_NavEKF3/AP_NavEKF3.h | 1 - 2 files changed, 1 insertion(+), 10 deletions(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp index be0da1e90a..e9d67ec489 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp @@ -614,15 +614,7 @@ const AP_Param::GroupInfo NavEKF3::var_info[] = { // @RebootRequired: True AP_GROUPINFO("GSF_USE_MASK", 58, NavEKF3, _gsfUseMask, 3), - // @Param: GSF_DELAY - // @DisplayName: Delay from loss of navigation to yaw reset - // @Description: If the inertial navigation calculation stops following the GPS and other positioning sensors for longer than EK3_GSF_DELAY milli-seconds, then the EKF3 code will generate a reset request internally and reset the yaw to the estimate from the EKF-GSF filter and reset the horizontal velocity and position to the GPS. This reset will not be performed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE parameter. - // @Range: 500 5000 - // @Increment: 100 - // @Units: ms - // @User: Advanced - // @RebootRequired: True - AP_GROUPINFO("GSF_DELAY", 59, NavEKF3, _gsfResetDelay, 1000), + // 59 was GSF_DELAY which was never released in a stable version // @Param: GSF_RST_MAX // @DisplayName: Maximum number of resets to the EKF-GSF yaw estimate allowed diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.h b/libraries/AP_NavEKF3/AP_NavEKF3.h index c35e9b7daa..b4b4757f63 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3.h +++ b/libraries/AP_NavEKF3/AP_NavEKF3.h @@ -417,7 +417,6 @@ private: AP_Int16 _mag_ef_limit; // limit on difference between WMM tables and learned earth field. AP_Int8 _gsfRunMask; // mask controlling which EKF3 instances run a separate EKF-GSF yaw estimator AP_Int8 _gsfUseMask; // mask controlling which EKF3 instances will use EKF-GSF yaw estimator data to assit with yaw resets - AP_Int16 _gsfResetDelay; // number of mSec from loss of navigation to requesting a reset using EKF-GSF yaw estimator data AP_Int8 _gsfResetMaxCount; // maximum number of times the EKF3 is allowed to reset it's yaw to the EKF-GSF estimate AP_Float _err_thresh; // lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError AP_Int32 _affinity; // bitmask of sensor affinity options