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AP_NavEKF2: Remove unused function

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This commit is contained in:
Paul Riseborough 2015-09-23 17:57:57 +10:00 committed by Andrew Tridgell
parent 02408861a1
commit 8afb26087d
4 changed files with 0 additions and 29 deletions
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13
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -768,19 +768,6 @@ bool NavEKF2::getHeightControlLimit(float &height) const
return core->getHeightControlLimit(height); return core->getHeightControlLimit(height);
} }
// provides the quaternion that was used by the INS calculation to
// rotate from the previous orientation to the orientaion at the
// current time step
// returns a zero rotation quaternion if the INS
// calculation was not performed on that time step.
Quaternion NavEKF2::getDeltaQuaternion(void) const
{
if (!core) {
return Quaternion();
}
return core->getDeltaQuaternion();
}
// return the amount of yaw angle change due to the last yaw angle reset in radians // return the amount of yaw angle change due to the last yaw angle reset in radians
// returns true if a reset yaw angle has been updated and not queried // returns true if a reset yaw angle has been updated and not queried
// this function should not have more than one client // this function should not have more than one client

4
libraries/AP_NavEKF2/AP_NavEKF2.h
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@ -216,10 +216,6 @@ public:
// this is needed to ensure the vehicle does not fly too high when using optical flow navigation // this is needed to ensure the vehicle does not fly too high when using optical flow navigation
bool getHeightControlLimit(float &height) const; bool getHeightControlLimit(float &height) const;
// provides the quaternion that was used by the INS calculation to rotate from the previous orientation to the orientaion at the current time step
// returns a zero rotation quaternion if the INS calculation was not performed on that time step.
Quaternion getDeltaQuaternion(void) const;
// return the amount of yaw angle change due to the last yaw angle reset in radians // return the amount of yaw angle change due to the last yaw angle reset in radians
// returns true if a reset yaw angle has been updated and not queried // returns true if a reset yaw angle has been updated and not queried
// this function should not have more than one client // this function should not have more than one client

8
libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
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@ -4807,14 +4807,6 @@ bool NavEKF2_core::getHeightControlLimit(float &height) const
} }
} }
// provides the delta quaternion that was used by the INS calculation to rotate from the previous orientation to the orientation at the current time
// the delta quaternion returned will be a zero rotation if the INS calculation was not performed on that time step
Quaternion NavEKF2_core::getDeltaQuaternion(void) const
{
// Note: correctedDelAngQuat is reset to a zero rotation at the start of every update cycle in UpdateFilter()
return correctedDelAngQuat;
}
// return the quaternions defining the rotation from NED to XYZ (body) axes // return the quaternions defining the rotation from NED to XYZ (body) axes
void NavEKF2_core::getQuaternion(Quaternion& ret) const void NavEKF2_core::getQuaternion(Quaternion& ret) const
{ {

4
libraries/AP_NavEKF2/AP_NavEKF2_core.h
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@ -209,10 +209,6 @@ public:
// this is needed to ensure the vehicle does not fly too high when using optical flow navigation // this is needed to ensure the vehicle does not fly too high when using optical flow navigation
bool getHeightControlLimit(float &height) const; bool getHeightControlLimit(float &height) const;
// provides the quaternion that was used by the INS calculation to rotate from the previous orientation to the orientaion at the current time step
// returns a zero rotation quaternion if the INS calculation was not performed on that time step.
Quaternion getDeltaQuaternion(void) const;
// return the amount of yaw angle change due to the last yaw angle reset in radians // return the amount of yaw angle change due to the last yaw angle reset in radians
// returns true if a reset yaw angle has been updated and not queried // returns true if a reset yaw angle has been updated and not queried
// this function should not have more than one client // this function should not have more than one client