InertialSensor: remove DMP

this saves 3K of flash

libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h

@@ -10,35 +10,20 @@
 #include "AP_InertialSensor.h"
 
 #define MPU6000_CS_PIN       53        // APM pin connected to mpu6000's chip select pin
-#define DMP_FIFO_BUFFER_SIZE 72        // DMP FIFO buffer size
 
 // enable debug to see a register dump on startup
 #define MPU6000_DEBUG 0
 
-// DMP memory
-extern const uint8_t        dmpMem[8][16][16] PROGMEM;
-
 class AP_InertialSensor_MPU6000 : public AP_InertialSensor
 {
 public:
 
     AP_InertialSensor_MPU6000();
 
-    static void         dmp_init(); // Initialise MPU6000's DMP
-    static void         dmp_reset();    // Reset the DMP (required for changes in gains or offsets to take effect)
-
     /* Concrete implementation of AP_InertialSensor functions: */
     bool                update();
     float               get_gyro_drift_rate();
 
-    // push_gyro_offsets_to_dmp - updates gyro offsets in mpu6000 registers
-    void                push_gyro_offsets_to_dmp();
-    void                set_dmp_gyro_offsets(int16_t offsetX, int16_t offsetY, int16_t offsetZ);
-
-    // push_accel_offsets_to_dmp - updates accel offsets in DMP registers
-    void                push_accel_offsets_to_dmp();
-    void                set_dmp_accel_offsets(int16_t offsetX, int16_t offsetY, int16_t offsetZ);
-
     // sample_available - true when a new sample is available
     bool                sample_available();
 
@@ -84,10 +69,6 @@ private:
     bool                        _initialised;
     static int16_t              _mpu6000_product_id;
 
-    // dmp related methods and parameters
-    static void                 dmp_register_write(uint8_t bank, uint8_t address, uint8_t num_bytes, uint8_t data[]); // Method to write multiple bytes into dmp registers.  Requires a "bank"
-    static void                 dmp_set_rate(uint8_t rate); // set DMP output rate (see constants)
-
     // how many hardware samples before we report a sample to the caller
     uint8_t _sample_shift;
 
@@ -97,30 +78,6 @@ private:
     void _set_filter_register(uint8_t filter_hz, uint8_t default_filter);
 
 public:
-    static Quaternion           quaternion;             // holds the 4 quaternions representing attitude taken directly from the DMP
-
-    static bool                 FIFO_ready();                   // returns true if new attitude data is available in FIFO buffer
-    static void                 FIFO_reset();                   // clear attitude data from FIFO buffer
-    static void                 FIFO_getPacket();       // get latest attitude data from FIFO buffer
-    static void                 dmp_set_gyro_calibration();
-    static void                 dmp_set_accel_calibration();
-    static void                 dmp_apply_endian_accel();
-    static void                 dmp_set_mpu_sensors();  // To configure for SIX_AXIS output
-    static void                 dmp_set_bias_from_no_motion(); // Turn on bias from no motion
-    static void                 dmp_set_bias_none();            // Turn off internal bias correction (we will use this and we handle the gyro bias correction externally)
-    static void                 dmp_set_fifo_interrupt();
-    static void                 dmp_send_quaternion();  // Send quaternion data to FIFO
-    static void                 dmp_send_gyro();                // Send gyro data to FIFO
-    static void                 dmp_send_accel();       // Send accel data to FIFO
-    static void                 dmp_set_fifo_rate(uint8_t rate); // This functions defines the rate at wich attitude data is send to FIFO.  Rate: 0 => SAMPLE_RATE(ex:200Hz), 1=> SAMPLE_RATE/2 (ex:100Hz), 2=> SAMPLE_RATE/3 (ex:66Hz)
-    static void                 dmp_set_sensor_fusion_accel_gain(uint8_t gain); // This function defines the weight of the accel on the sensor fusion. Default value is 0x80. The official invensense name is inv_key_0_96 (?)
-    static void                 dmp_load_mem();                 // Load initial memory values into DMP memory banks
-
-    static uint8_t              _received_packet[DMP_FIFO_BUFFER_SIZE]; // FIFO packet buffer
-    static uint8_t              _fifoCountH;                    // high byte of number of elements in fifo buffer
-    static uint8_t              _fifoCountL;                    // low byte of number of elements in fifo buffer
-
-    static bool                 _dmp_initialised;
 
 #if MPU6000_DEBUG
     void						_dump_registers(void);