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ArduPlane: remove ability to use DCM as AHRS

This commit is contained in:
Peter Barker 2021-07-20 22:16:22 +10:00 committed by Peter Barker
parent f0e660db51
commit e3b8fc6646
3 changed files with 1 additions and 8 deletions
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3
ArduPlane/Log.cpp
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@ -35,10 +35,9 @@ void Plane::Log_Write_Attitude(void)
logger.Write_PID(LOG_PIDY_MSG, yawController.get_pid_info());
logger.Write_PID(LOG_PIDS_MSG, steerController.get_pid_info());
#if AP_AHRS_NAVEKF_AVAILABLE
AP::ahrs_navekf().Log_Write();
ahrs.Write_AHRS2();
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
sitl.Log_Write_SIMSTATE();
#endif

2
ArduPlane/Parameters.cpp
View File

@ -979,7 +979,6 @@ const AP_Param::Info Plane::var_info[] = {
GOBJECT(fence, "FENCE_", AC_Fence),
#endif
#if AP_AHRS_NAVEKF_AVAILABLE
#if HAL_NAVEKF2_AVAILABLE
// @Group: EK2_
// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
@ -990,7 +989,6 @@ const AP_Param::Info Plane::var_info[] = {
// @Group: EK3_
// @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
GOBJECTN(ahrs.EKF3, NavEKF3, "EK3_", NavEKF3),
#endif
#endif
// @Group: RPM

4
ArduPlane/config.h
View File

@ -38,11 +38,7 @@
//
#ifndef OPTFLOW
#if AP_AHRS_NAVEKF_AVAILABLE
# define OPTFLOW ENABLED
#else
# define OPTFLOW DISABLED
#endif
#endif