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AP_AHRS: Remove unused uptime

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Michael du Breuil 2019-03-12 03:03:53 -07:00 committed by Andrew Tridgell
parent 94a1835a9b
commit 2ed1757353
3 changed files with 0 additions and 17 deletions
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3
libraries/AP_AHRS/AP_AHRS.h
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@ -542,9 +542,6 @@ public:
return false; return false;
} }
// time that the AHRS has been up
virtual uint32_t uptime_ms(void) const = 0;
// get the selected ekf type, for allocation decisions // get the selected ekf type, for allocation decisions
int8_t get_ekf_type(void) const { int8_t get_ekf_type(void) const {
return _ekf_type; return _ekf_type;

11
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -1075,14 +1075,3 @@ bool AP_AHRS_DCM::healthy(void) const
// consider ourselves healthy if there have been no failures for 5 seconds // consider ourselves healthy if there have been no failures for 5 seconds
return (_last_failure_ms == 0 || AP_HAL::millis() - _last_failure_ms > 5000); return (_last_failure_ms == 0 || AP_HAL::millis() - _last_failure_ms > 5000);
} }
/*
return amount of time that AHRS has been up
*/
uint32_t AP_AHRS_DCM::uptime_ms(void) const
{
if (_last_startup_ms == 0) {
return 0;
}
return AP_HAL::millis() - _last_startup_ms;
}

3
libraries/AP_AHRS/AP_AHRS_DCM.h
View File

@ -102,9 +102,6 @@ public:
// is the AHRS subsystem healthy? // is the AHRS subsystem healthy?
bool healthy() const override; bool healthy() const override;
// time that the AHRS has been up
uint32_t uptime_ms() const override;
private: private:
float _ki; float _ki;
float _ki_yaw; float _ki_yaw;