From a7b9aff79fba9191ef77f5266379150cd9449f99 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 8 Aug 2012 11:29:53 +1000
Subject: [PATCH] AP_Baro: the DerivativeFilter now handles duplicate data

this saves a few bytes of memory
---
 libraries/AP_Baro/AP_Baro.cpp | 11 ++---------
 libraries/AP_Baro/AP_Baro.h   |  2 --
 2 files changed, 2 insertions(+), 11 deletions(-)

diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index c87c3ad8df..c226cb785d 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -103,15 +103,8 @@ float AP_Baro::get_altitude(void)
 // note that this relies on read() being called regularly to get new data
 float AP_Baro::get_climb_rate(void)
 {
-    if (_last_climb_rate_t == _last_altitude_t) {
-        // no new information
-        return _climb_rate;
-    }
-    _last_climb_rate_t = _last_altitude_t;
-
     // we use a 7 point derivative filter on the climb rate. This seems
     // to produce somewhat reasonable results on real hardware
-    _climb_rate = _climb_rate_filter.slope() * 1.0e3;
-
-	return _climb_rate;
+    return _climb_rate_filter.slope() * 1.0e3;
 }
+
diff --git a/libraries/AP_Baro/AP_Baro.h b/libraries/AP_Baro/AP_Baro.h
index afb373acc4..6170f9d249 100644
--- a/libraries/AP_Baro/AP_Baro.h
+++ b/libraries/AP_Baro/AP_Baro.h
@@ -52,8 +52,6 @@ private:
     AP_Float    _ground_temperature;
     AP_Float    _ground_pressure;
     float       _altitude;
-    float       _climb_rate;
-    uint32_t    _last_climb_rate_t;
     uint32_t    _last_altitude_t;
     DerivativeFilterFloat_Size7 _climb_rate_filter;
 };