From aeb24d4978b472ec9c76aa980f139116fa2622a4 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 28 Jul 2022 11:07:52 +1000 Subject: [PATCH] AP_AHRS: remove method casting active EKF type for logging logging is now done internally --- libraries/AP_AHRS/AP_AHRS.h | 5 ----- libraries/AP_AHRS/AP_AHRS_Logging.cpp | 4 ++-- 2 files changed, 2 insertions(+), 7 deletions(-) diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h index a684dfdc83..91d37556f6 100644 --- a/libraries/AP_AHRS/AP_AHRS.h +++ b/libraries/AP_AHRS/AP_AHRS.h @@ -371,11 +371,6 @@ public: // set and save the ALT_M_NSE parameter value void set_alt_measurement_noise(float noise); - // active EKF type for logging - uint8_t get_active_AHRS_type(void) const { - return uint8_t(active_EKF_type()); - } - // get the selected ekf type, for allocation decisions int8_t get_ekf_type(void) const { return _ekf_type; diff --git a/libraries/AP_AHRS/AP_AHRS_Logging.cpp b/libraries/AP_AHRS/AP_AHRS_Logging.cpp index 0be7c3956d..641f6701aa 100644 --- a/libraries/AP_AHRS/AP_AHRS_Logging.cpp +++ b/libraries/AP_AHRS/AP_AHRS_Logging.cpp @@ -58,7 +58,7 @@ void AP_AHRS::Write_Attitude(const Vector3f &targets) const yaw : (uint16_t)wrap_360_cd(yaw_sensor), error_rp : (uint16_t)(get_error_rp() * 100), error_yaw : (uint16_t)(get_error_yaw() * 100), - active : AP::ahrs().get_active_AHRS_type(), + active : uint8_t(active_EKF_type()), }; AP::logger().WriteBlock(&pkt, sizeof(pkt)); } @@ -134,7 +134,7 @@ void AP_AHRS_View::Write_AttitudeView(const Vector3f &targets) const yaw : (uint16_t)wrap_360_cd(yaw_sensor), error_rp : (uint16_t)(get_error_rp() * 100), error_yaw : (uint16_t)(get_error_yaw() * 100), - active : AP::ahrs().get_active_AHRS_type() + active : uint8_t(AP::ahrs().active_EKF_type()), }; AP::logger().WriteBlock(&pkt, sizeof(pkt)); }