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AP_InertialNav: remove ability to use DCM as AHRS

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Peter Barker 2021-07-20 22:16:20 +10:00 committed by Peter Barker
parent 0d391533b0
commit a3ee979b9c
2 changed files with 0 additions and 6 deletions
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2
libraries/AP_InertialNav/AP_InertialNav.h
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@ -84,6 +84,4 @@ public:
virtual float get_velocity_z() const = 0; virtual float get_velocity_z() const = 0;
}; };
#if AP_AHRS_NAVEKF_AVAILABLE
#include "AP_InertialNav_NavEKF.h" #include "AP_InertialNav_NavEKF.h"
#endif

4
libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp
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@ -2,8 +2,6 @@
#include <AP_Baro/AP_Baro.h> #include <AP_Baro/AP_Baro.h>
#include "AP_InertialNav.h" #include "AP_InertialNav.h"
#if AP_AHRS_NAVEKF_AVAILABLE
/* /*
A wrapper around the AP_InertialNav class which uses the NavEKF A wrapper around the AP_InertialNav class which uses the NavEKF
filter if available, and falls back to the AP_InertialNav filter filter if available, and falls back to the AP_InertialNav filter
@ -106,5 +104,3 @@ float AP_InertialNav_NavEKF::get_velocity_z() const
{ {
return _velocity_cm.z; return _velocity_cm.z;
} }
#endif // AP_AHRS_NAVEKF_AVAILABLE