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ArduCopter: 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 ec17abce2e
commit f0e660db51
1 changed files with 0 additions and 2 deletions
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2
ArduCopter/ekf_check.cpp
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@ -225,7 +225,6 @@ void Copter::check_ekf_reset()
AP::logger().Write_Event(LogEvent::EKF_YAW_RESET);
}
#if AP_AHRS_NAVEKF_AVAILABLE && (HAL_NAVEKF2_AVAILABLE || HAL_NAVEKF3_AVAILABLE)
// check for change in primary EKF, reset attitude target and log. AC_PosControl handles position target adjustment
if ((ahrs.get_primary_core_index() != ekf_primary_core) && (ahrs.get_primary_core_index() != -1)) {
attitude_control->inertial_frame_reset();
@ -233,7 +232,6 @@ void Copter::check_ekf_reset()
AP::logger().Write_Error(LogErrorSubsystem::EKF_PRIMARY, LogErrorCode(ekf_primary_core));
gcs().send_text(MAV_SEVERITY_WARNING, "EKF primary changed:%d", (unsigned)ekf_primary_core);
}
#endif
}
// check for high vibrations affecting altitude control