From b3bacdd33c96e503905171540b0bd454f01e62fb Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 17 Dec 2020 15:42:24 +1100
Subject: [PATCH] AP_NavEKF3: remove internal-only getTiltError method

---
 libraries/AP_NavEKF3/AP_NavEKF3.cpp         | 9 ---------
 libraries/AP_NavEKF3/AP_NavEKF3.h           | 4 ----
 libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp | 4 +---
 libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp | 6 ------
 libraries/AP_NavEKF3/AP_NavEKF3_core.h      | 3 ---
 5 files changed, 1 insertion(+), 25 deletions(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
index 39b8ab77d8..c52c845e23 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
@@ -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)
 {
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.h b/libraries/AP_NavEKF3/AP_NavEKF3.h
index bec3be967a..c6c7dfa5aa 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.h
@@ -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);
 
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
index 70a9a33863..072b9a1d1b 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
@@ -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,
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
index 6e18779d42..3cb010d6c0 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
@@ -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
 {
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
index baab4aee9b..21deb51b10 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
@@ -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);