From aca78d321f679e355b8e92ff3cc42477b6c55b26 Mon Sep 17 00:00:00 2001 From: priseborough Date: Tue, 14 Oct 2014 18:26:45 +1100 Subject: [PATCH] DataFlash : Remove unused numerical divergence metric --- libraries/DataFlash/DataFlash.h | 3 +-- libraries/DataFlash/LogFile.cpp | 6 ++---- 2 files changed, 3 insertions(+), 6 deletions(-) diff --git a/libraries/DataFlash/DataFlash.h b/libraries/DataFlash/DataFlash.h index be1ad80552..50bb8f5d8d 100644 --- a/libraries/DataFlash/DataFlash.h +++ b/libraries/DataFlash/DataFlash.h @@ -338,7 +338,6 @@ struct PACKED log_EKF4 { int8_t offsetNorth; int8_t offsetEast; uint8_t faults; - uint8_t divergeRate; }; struct PACKED log_Cmd { @@ -466,7 +465,7 @@ struct PACKED log_Ubx2 { { LOG_EKF3_MSG, sizeof(log_EKF3), \ "EKF3","Icccccchhhc","TimeMS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IVT" }, \ { LOG_EKF4_MSG, sizeof(log_EKF4), \ - "EKF4","IcccccccbbBB","TimeMS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS,DS" }, \ + "EKF4","IcccccccbbB","TimeMS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS" }, \ { LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \ "TERR","IBLLHffHH","TimeMS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded" }, \ { LOG_UBX1_MSG, sizeof(log_Ubx1), \ diff --git a/libraries/DataFlash/LogFile.cpp b/libraries/DataFlash/LogFile.cpp index ddae852984..f9b184ddf0 100644 --- a/libraries/DataFlash/LogFile.cpp +++ b/libraries/DataFlash/LogFile.cpp @@ -971,9 +971,8 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs) float tasVar; Vector2f offset; uint8_t faultStatus; - float deltaGyroBias; ahrs.get_NavEKF().getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset); - ahrs.get_NavEKF().getFilterFaults(faultStatus, deltaGyroBias); + ahrs.get_NavEKF().getFilterFaults(faultStatus); struct log_EKF4 pkt4 = { LOG_PACKET_HEADER_INIT(LOG_EKF4_MSG), time_ms : hal.scheduler->millis(), @@ -986,8 +985,7 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs) sqrtvarVT : (int16_t)(100*tasVar), offsetNorth : (int8_t)(offset.x), offsetEast : (int8_t)(offset.y), - faults : (uint8_t)(faultStatus), - divergeRate : (uint8_t)(100*deltaGyroBias) + faults : (uint8_t)(faultStatus) }; WriteBlock(&pkt4, sizeof(pkt4)); }