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AP_NavEKF2: cleanup unused code

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This commit is contained in:
Andrew Tridgell 2020-11-07 16:58:59 +11:00
parent 9635231088
commit 8591b31665
5 changed files with 0 additions and 16 deletions
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7
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -611,7 +611,6 @@ NavEKF2::NavEKF2()
AP_Param::setup_object_defaults(this, var_info);
}
#include <stdio.h>
// Initialise the filter
bool NavEKF2::InitialiseFilter(void)
@ -1571,8 +1570,6 @@ uint32_t NavEKF2::getLastPosDownReset(float &posDelta)
// update the yaw reset data to capture changes due to a lane switch
void NavEKF2::updateLaneSwitchYawResetData(uint8_t new_primary, uint8_t old_primary)
{
// AP_DAL::log_updateLaneSwitchYawResetData(new_primary, old_primary);
Vector3f eulers_old_primary, eulers_new_primary;
float old_yaw_delta;
@ -1599,8 +1596,6 @@ void NavEKF2::updateLaneSwitchYawResetData(uint8_t new_primary, uint8_t old_prim
// update the position reset data to capture changes due to a lane switch
void NavEKF2::updateLaneSwitchPosResetData(uint8_t new_primary, uint8_t old_primary)
{
// AP_DAL::log_updateLaneSwitchPosResetData(new_primary, old_primary);
Vector2f pos_old_primary, pos_new_primary, old_pos_delta;
// If core position reset data has been consumed reset delta to zero
@ -1628,8 +1623,6 @@ void NavEKF2::updateLaneSwitchPosResetData(uint8_t new_primary, uint8_t old_prim
// new primary EKF update has been run
void NavEKF2::updateLaneSwitchPosDownResetData(uint8_t new_primary, uint8_t old_primary)
{
// AP_DAL::log_updateLaneSwitchPosResetData(new_primary, old_primary);
float posDownOldPrimary, posDownNewPrimary, oldPosDownDelta;
// If core position reset data has been consumed reset delta to zero

3
libraries/AP_NavEKF2/AP_NavEKF2.h
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@ -314,9 +314,6 @@ public:
// allow the enable flag to be set by Replay
void set_enable(bool enable) { _enable.set_enable(enable); }
// are we doing sensor logging inside the EKF?
bool have_ekf_logging(void) const { return false; }
// get timing statistics structure
void getTimingStatistics(int8_t instance, struct ekf_timing &timing) const;

2
libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
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@ -4,8 +4,6 @@
#include "AP_NavEKF2_core.h"
#include <GCS_MAVLink/GCS.h>
#include <stdio.h>
extern const AP_HAL::HAL& hal;

2
libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
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@ -4,8 +4,6 @@
#include "AP_NavEKF2_core.h"
#include <AP_DAL/AP_DAL.h>
#include <stdio.h>
extern const AP_HAL::HAL& hal;
/********************************************************

2
libraries/AP_NavEKF2/AP_NavEKF_GyroBias.cpp
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@ -5,8 +5,6 @@
#include "AP_NavEKF2_core.h"
#include <AP_Vehicle/AP_Vehicle.h>
#include <stdio.h>
extern const AP_HAL::HAL& hal;
// reset the body axis gyro bias states to zero and re-initialise the corresponding covariances