From ddab3f02ca13732cc8849e8cbffa066b7ca12ac7 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 15 Apr 2022 17:39:29 +1000 Subject: [PATCH] AP_Arming: use HarmonicNotch class --- libraries/AP_Arming/AP_Arming.cpp | 8 -------- 1 file changed, 8 deletions(-) diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp index 73a048e4e4..d8baeead15 100644 --- a/libraries/AP_Arming/AP_Arming.cpp +++ b/libraries/AP_Arming/AP_Arming.cpp @@ -394,14 +394,6 @@ bool AP_Arming::ins_checks(bool report) check_failed(ARMING_CHECK_INS, report, "%s", failure_msg); return false; } -#if HAL_INS_NUM_HARMONIC_NOTCH_FILTERS > 1 - if (ins.gyro_harmonic_notch_enabled(0) && - ins.gyro_harmonic_notch_enabled(1) && - ins.get_gyro_harmonic_notch_tracking_mode(0) != HarmonicNotchDynamicMode::Fixed && - ins.get_gyro_harmonic_notch_tracking_mode(0) != ins.get_gyro_harmonic_notch_tracking_mode(1)) { - check_failed(ARMING_CHECK_INS, report, "conflicting notch filters"); - } -#endif } #if HAL_GYROFFT_ENABLED