From b32701e008efd6946097fec06b97df3263fdc071 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 27 Feb 2012 12:14:01 +1100
Subject: [PATCH] IMU: removed unused accel_filtered code

---
 libraries/AP_IMU/AP_IMU_INS.cpp | 4 ----
 libraries/AP_IMU/IMU.h          | 7 -------
 2 files changed, 11 deletions(-)

diff --git a/libraries/AP_IMU/AP_IMU_INS.cpp b/libraries/AP_IMU/AP_IMU_INS.cpp
index 075678315f..bb24f36248 100644
--- a/libraries/AP_IMU/AP_IMU_INS.cpp
+++ b/libraries/AP_IMU/AP_IMU_INS.cpp
@@ -232,10 +232,6 @@ AP_IMU_INS::update(void)
 	_accel.y = _calibrated(4, accels[1]);
 	_accel.z = _calibrated(5, accels[2]);
 
-	_accel_filtered.x = _accel_filtered.x / 2 + _accel.x / 2;
-	_accel_filtered.y = _accel_filtered.y / 2 + _accel.y / 2;
-	_accel_filtered.z = _accel_filtered.z / 2 + _accel.z / 2;
-
 	// always updated
 	return true;
 }
diff --git a/libraries/AP_IMU/IMU.h b/libraries/AP_IMU/IMU.h
index f2ccb2d4a0..8691e2663b 100644
--- a/libraries/AP_IMU/IMU.h
+++ b/libraries/AP_IMU/IMU.h
@@ -75,12 +75,6 @@ public:
 	Vector3f		get_accel(void) { return _accel; }
 
 
-	/// Fetch the current accelerometer values
-	///
-	/// @returns	vector of current accelerations in m/s/s
-	///
-	Vector3f		get_accel_filtered(void) { return _accel_filtered; }
-
 	/// return the number of seconds that the last update represents
 	///
 	/// @returns	number of seconds
@@ -112,7 +106,6 @@ protected:
 
 	/// Most recent accelerometer reading obtained by ::update
 	Vector3f		_accel;
-	Vector3f		_accel_filtered;
 
 	/// Most recent gyro reading obtained by ::update
 	Vector3f		_gyro;