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AP_AHRS: remove unused base-class airspeed_estimate method

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This commit is contained in:
Peter Barker 2020-07-27 13:48:30 +10:00 committed by Andrew Tridgell
parent 676c36bad4
commit ad435dcdbb
2 changed files with 1 additions and 21 deletions
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20
libraries/AP_AHRS/AP_AHRS.cpp
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@ -179,26 +179,6 @@ Vector3f AP_AHRS::get_gyro_latest(void) const
return AP::ins().get_gyro(primary_gyro) + get_gyro_drift(); return AP::ins().get_gyro(primary_gyro) + get_gyro_drift();
} }
// return airspeed estimate if available
bool AP_AHRS::airspeed_estimate(float &airspeed_ret) const
{
if (airspeed_sensor_enabled()) {
airspeed_ret = _airspeed->get_airspeed();
if (_wind_max > 0 && AP::gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
// constrain the airspeed by the ground speed
// and AHRS_WIND_MAX
const float gnd_speed = AP::gps().ground_speed();
float true_airspeed = airspeed_ret * get_EAS2TAS();
true_airspeed = constrain_float(true_airspeed,
gnd_speed - _wind_max,
gnd_speed + _wind_max);
airspeed_ret = true_airspeed / get_EAS2TAS();
}
return true;
}
return false;
}
// set_trim // set_trim
void AP_AHRS::set_trim(const Vector3f &new_trim) void AP_AHRS::set_trim(const Vector3f &new_trim)
{ {

2
libraries/AP_AHRS/AP_AHRS.h
View File

@ -260,7 +260,7 @@ public:
// return an airspeed estimate if available. return true // return an airspeed estimate if available. return true
// if we have an estimate // if we have an estimate
virtual bool airspeed_estimate(float &airspeed_ret) const WARN_IF_UNUSED; virtual bool airspeed_estimate(float &airspeed_ret) const WARN_IF_UNUSED = 0;
// return a true airspeed estimate (navigation airspeed) if // return a true airspeed estimate (navigation airspeed) if
// available. return true if we have an estimate // available. return true if we have an estimate