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AP_NavEKF3: remove internal-only getTiltError method

This commit is contained in:
Peter Barker 2020-12-17 15:42:24 +11:00 committed by Peter Barker
parent dddb285209
commit b3bacdd33c
5 changed files with 1 additions and 25 deletions
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9
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -1188,15 +1188,6 @@ void NavEKF3::getAccelBias(int8_t instance, Vector3f &accelBias) const
}
}
// return estimated 1-sigma tilt error for the specified instance in radians
void NavEKF3::getTiltError(int8_t instance, float &ang) const
{
if (instance < 0 || instance >= num_cores) instance = primary;
if (core) {
core[instance].getTiltError(ang);
}
}
// reset body axis gyro bias estimates
void NavEKF3::resetGyroBias(void)
{

4
libraries/AP_NavEKF3/AP_NavEKF3.h
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@ -101,10 +101,6 @@ public:
// An out of range instance (eg -1) returns data for the primary instance
void getAccelBias(int8_t instance, Vector3f &accelBias) const;
// return estimated 1-sigma tilt error for the specified instance in radians
// An out of range instance (eg -1) returns data for the primary instance
void getTiltError(int8_t instance, float &ang) const;
// reset body axis gyro bias estimates
void resetGyroBias(void);

4
libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
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@ -147,8 +147,6 @@ void NavEKF3_core::Log_Write_XKF4(uint64_t time_us) const
getFilterTimeouts(timeoutStatus);
getFilterStatus(solutionStatus);
getFilterGpsStatus(gpsStatus);
float tiltError;
getTiltError(tiltError);
const struct log_NKF4 pkt4{
LOG_PACKET_HEADER_INIT(LOG_XKF4_MSG),
time_us : time_us,
@ -158,7 +156,7 @@ void NavEKF3_core::Log_Write_XKF4(uint64_t time_us) const
sqrtvarH : (int16_t)(100*hgtVar),
sqrtvarM : (int16_t)(100*tempVar),
sqrtvarVT : (int16_t)(100*tasVar),
tiltErr : tiltError,
tiltErr : sqrtf(MAX(tiltErrorVariance,0.0f)), // estimated 1-sigma tilt error in radians
offsetNorth : (int8_t)(offset.x),
offsetEast : (int8_t)(offset.y),
faults : _faultStatus,

6
libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
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@ -123,12 +123,6 @@ void NavEKF3_core::getAccelBias(Vector3f &accelBias) const
accelBias = stateStruct.accel_bias / dtEkfAvg;
}
// return estimated 1-sigma tilt error in radians
void NavEKF3_core::getTiltError(float &ang) const
{
ang = sqrtf(MAX(tiltErrorVariance,0.0f));
}
// return the transformation matrix from XYZ (body) to NED axes
void NavEKF3_core::getRotationBodyToNED(Matrix3f &mat) const
{

3
libraries/AP_NavEKF3/AP_NavEKF3_core.h
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@ -131,9 +131,6 @@ public:
// return accelerometer bias in m/s/s
void getAccelBias(Vector3f &accelBias) const;
// return estimated 1-sigma tilt error in radians
void getTiltError(float &ang) const;
// reset body axis gyro bias estimates
void resetGyroBias(void);