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AP_AHRS: remove custom_rotation matrix to frontend

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Only one of these per vehicle
This commit is contained in:
Peter Barker 2021-08-20 12:55:38 +10:00 committed by Andrew Tridgell
parent 645a5302d0
commit d6c7c59199
2 changed files with 5 additions and 2 deletions
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5
libraries/AP_AHRS/AP_AHRS.h
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@ -485,6 +485,11 @@ private:
AP_Float _custom_pitch;
AP_Float _custom_yaw;
/*
* support for custom AHRS orientation, replacing _board_orientation
*/
Matrix3f _custom_rotation;
enum class EKFType {
NONE = 0
#if HAL_NAVEKF3_AVAILABLE

2
libraries/AP_AHRS/AP_AHRS_Backend.h
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@ -430,8 +430,6 @@ protected:
// multi-thread access support
HAL_Semaphore _rsem;
Matrix3f _custom_rotation;
// calculate sin/cos of roll/pitch/yaw from rotation
void calc_trig(const Matrix3f &rot,
float &cr, float &cp, float &cy,