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AP_InertialSensor: remove check for max INS instances 

For all supported boards the maximum number of instances is 3.
This commit is contained in:
Lucas De Marchi 2015-10-14 12:47:20 -03:00 committed by Andrew Tridgell
parent ae77c4b692
commit db62e55753
1 changed files with 1 additions and 12 deletions
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13
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -85,7 +85,6 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] PROGMEM = {
// @User: Advanced
AP_GROUPINFO("GYROFFS", 3, AP_InertialSensor, _gyro_offset[0], 0),
#if INS_MAX_INSTANCES > 1
// @Param: GYR2OFFS_X
// @DisplayName: Gyro2 offsets of X axis
// @Description: Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations
@ -104,9 +103,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] PROGMEM = {
// @Units: rad/s
// @User: Advanced
AP_GROUPINFO("GYR2OFFS", 7, AP_InertialSensor, _gyro_offset[1], 0),
#endif
#if INS_MAX_INSTANCES > 2
// @Param: GYR3OFFS_X
// @DisplayName: Gyro3 offsets of X axis
// @Description: Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations
@ -125,7 +122,6 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] PROGMEM = {
// @Units: rad/s
// @User: Advanced
AP_GROUPINFO("GYR3OFFS", 10, AP_InertialSensor, _gyro_offset[2], 0),
#endif
// @Param: ACCSCAL_X
// @DisplayName: Accelerometer scaling of X axis
@ -168,7 +164,6 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] PROGMEM = {
// @User: Advanced
AP_GROUPINFO("ACCOFFS", 13, AP_InertialSensor, _accel_offset[0], 0),
#if INS_MAX_INSTANCES > 1
// @Param: ACC2SCAL_X
// @DisplayName: Accelerometer2 scaling of X axis
// @Description: Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine
@ -209,9 +204,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] PROGMEM = {
// @Range: -3.5 3.5
// @User: Advanced
AP_GROUPINFO("ACC2OFFS", 15, AP_InertialSensor, _accel_offset[1], 0),
#endif
#if INS_MAX_INSTANCES > 2
// @Param: ACC3SCAL_X
// @DisplayName: Accelerometer3 scaling of X axis
// @Description: Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine
@ -252,7 +245,6 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] PROGMEM = {
// @Range: -3.5 3.5
// @User: Advanced
AP_GROUPINFO("ACC3OFFS", 17, AP_InertialSensor, _accel_offset[2], 0),
#endif
// @Param: GYRO_FILTER
// @DisplayName: Gyro filter cutoff frequency
@ -277,22 +269,19 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] PROGMEM = {
// @User: Advanced
AP_GROUPINFO("USE", 20, AP_InertialSensor, _use[0], 1),
#if INS_MAX_INSTANCES > 1
// @Param: USE2
// @DisplayName: Use second IMU for attitude, velocity and position estimates
// @Description: Use second IMU for attitude, velocity and position estimates
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
AP_GROUPINFO("USE2", 21, AP_InertialSensor, _use[1], 1),
#endif
#if INS_MAX_INSTANCES > 2
// @Param: USE3
// @DisplayName: Use third IMU for attitude, velocity and position estimates
// @Description: Use third IMU for attitude, velocity and position estimates
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
AP_GROUPINFO("USE3", 22, AP_InertialSensor, _use[2], 0),
#endif
#if INS_VIBRATION_CHECK
// @Param: STILL_THRESH