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AP_GPS: Remove unused blending function.

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Thanks to ender-chen for noticing, closes #7510
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Michael du Breuil 2018-01-09 13:00:09 -07:00 committed by Tom Pittenger
parent c8e0ae6890
commit 9e37e9ee82
1 changed files with 0 additions and 10 deletions
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10
libraries/AP_GPS/AP_GPS.cpp
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@ -1457,16 +1457,6 @@ void AP_GPS::calc_blended_state(void)
corrected_location[i].alt += (int)(_hgt_offset_cm[i]); corrected_location[i].alt += (int)(_hgt_offset_cm[i]);
} }
// Calculate the weighted sum of horizontal and vertical position offsets relative to the blended location
blended_alt_offset_cm = 0.0f;
blended_NE_offset_m.zero();
for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) {
if (_blend_weights[i] > 0.0f) {
blended_NE_offset_m += location_diff(state[GPS_BLENDED_INSTANCE].location, corrected_location[i]) * _blend_weights[i];
blended_alt_offset_cm += (float)(corrected_location[i].alt - state[GPS_BLENDED_INSTANCE].location.alt) * _blend_weights[i];
}
}
// If the GPS week is the same then use a blended time_week_ms // If the GPS week is the same then use a blended time_week_ms
// If week is different, then use time stamp from GPS with largest weighting // If week is different, then use time stamp from GPS with largest weighting
// detect inconsistent week data // detect inconsistent week data