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AP_AHRS: remove AHRS_EKF_USE_ALWAYS define

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This option now is passed when instantiating the code in ArduCopter, so
selecting the default value at compile time is not necessary anymore.

The motivation is to move vehicle specifc code out of the general
libraries. This patch shouldn't change behavior.
This commit is contained in:
Caio Marcelo de Oliveira Filho 2015-10-13 15:18:49 -03:00 committed by Andrew Tridgell
parent 05ae7858e8
commit f7c73fbb13
2 changed files with 1 additions and 13 deletions
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7
libraries/AP_AHRS/AP_AHRS.h
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@ -33,13 +33,6 @@
#include <AP_OpticalFlow/AP_OpticalFlow.h>
// Copter defaults to EKF on by default, all others off
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
# define AHRS_EKF_USE_ALWAYS 1
#else
# define AHRS_EKF_USE_ALWAYS 0
#endif
#define AP_AHRS_TRIM_LIMIT 10.0f // maximum trim angle in degrees
#define AP_AHRS_RP_P_MIN 0.05f // minimum value for AHRS_RP_P parameter
#define AP_AHRS_YAW_P_MIN 0.05f // minimum value for AHRS_YAW_P parameter

7
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -43,12 +43,7 @@ public:
// Constructor
AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps, RangeFinder &rng,
NavEKF &_EKF1, NavEKF2 &_EKF2,
#if AHRS_EKF_USE_ALWAYS
Flags flags = FLAG_ALWAYS_USE_EKF
#else
Flags flags = FLAG_NONE
#endif
NavEKF &_EKF1, NavEKF2 &_EKF2, Flags flags = FLAG_NONE
) :
AP_AHRS_DCM(ins, baro, gps),
EKF1(_EKF1),