From f8399fe3de6cd9fb7ae64853b7a6ca692c5f776c Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Thu, 5 Aug 2021 12:40:41 +0900 Subject: [PATCH] AP_NavEKF2: remove unused EK2_GSF_DELAY param --- libraries/AP_NavEKF2/AP_NavEKF2.cpp | 10 +--------- libraries/AP_NavEKF2/AP_NavEKF2.h | 1 - 2 files changed, 1 insertion(+), 10 deletions(-) diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp index ab6e8f6d01..66ae96daaf 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp @@ -584,15 +584,7 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = { // @RebootRequired: True AP_GROUPINFO("GSF_USE_MASK", 55, NavEKF2, _gsfUseMask, 3), - // @Param: GSF_DELAY - // @DisplayName: Delay from loss of navigation to yaw reset - // @Description: If the inertial navigation calculation stops following the GPS and other positioning sensors for longer than EK2_GSF_DELAY milli-seconds, then the EKF2 code will generate a reset request internally and reset the yaw to the estimate from the EKF-GSF filter and reset the horizontal velocity and position to the GPS. This reset will not be performed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE parameter. - // @Range: 500 5000 - // @Increment: 100 - // @Units: ms - // @User: Advanced - // @RebootRequired: True - AP_GROUPINFO("GSF_DELAY", 56, NavEKF2, _gsfResetDelay, 1000), + // 56 was GSF_DELAY which was never released in a stable version // @Param: GSF_RST_MAX // @DisplayName: Maximum number of resets to the EKF-GSF yaw estimate allowed diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.h b/libraries/AP_NavEKF2/AP_NavEKF2.h index 27c03ebd2c..2952184c7b 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2.h +++ b/libraries/AP_NavEKF2/AP_NavEKF2.h @@ -367,7 +367,6 @@ private: AP_Float _hrt_filt_freq; // frequency of output observer height rate complementary filter in Hz AP_Int8 _gsfRunMask; // mask controlling which EKF2 instances run a separate EKF-GSF yaw estimator AP_Int8 _gsfUseMask; // mask controlling which EKF2 instances will use EKF-GSF yaw estimator data to assit with yaw resets - AP_Int16 _gsfResetDelay; // number of mSec from loss of navigation to requesting a reset using EKF-GSF yaw estimator data AP_Int8 _gsfResetMaxCount; // maximum number of times the EKF2 is allowed to reset it's yaw to the EKF-GSF estimate // Possible values for _flowUse