From 2fab99d647089f503e423c0649a4cadc4c2d4c3b Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Mon, 22 Nov 2021 20:26:18 +0000
Subject: [PATCH] AP_HAL_ChibiOS: remove redundant harmonics from DSP

---
 libraries/AP_HAL_ChibiOS/DSP.cpp | 8 ++++----
 libraries/AP_HAL_ChibiOS/DSP.h   | 4 ++--
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/DSP.cpp b/libraries/AP_HAL_ChibiOS/DSP.cpp
index e39b612bcc..f8281862d8 100644
--- a/libraries/AP_HAL_ChibiOS/DSP.cpp
+++ b/libraries/AP_HAL_ChibiOS/DSP.cpp
@@ -49,9 +49,9 @@ extern const AP_HAL::HAL& hal;
 // important as frequency resolution. Referred to as [Heinz] throughout the code.
 
 // initialize the FFT state machine
-AP_HAL::DSP::FFTWindowState* DSP::fft_init(uint16_t window_size, uint16_t sample_rate, uint8_t harmonics)
+AP_HAL::DSP::FFTWindowState* DSP::fft_init(uint16_t window_size, uint16_t sample_rate)
 {
-    DSP::FFTWindowStateARM* fft = new DSP::FFTWindowStateARM(window_size, sample_rate, harmonics);
+    DSP::FFTWindowStateARM* fft = new DSP::FFTWindowStateARM(window_size, sample_rate);
     if (fft == nullptr || fft->_hanning_window == nullptr || fft->_rfft_data == nullptr || fft->_freq_bins == nullptr || fft->_derivative_freq_bins == nullptr) {
         delete fft;
         return nullptr;
@@ -77,8 +77,8 @@ uint16_t DSP::fft_analyse(AP_HAL::DSP::FFTWindowState* state, uint16_t start_bin
 }
 
 // create an instance of the FFT state machine
-DSP::FFTWindowStateARM::FFTWindowStateARM(uint16_t window_size, uint16_t sample_rate, uint8_t harmonics)
-    : AP_HAL::DSP::FFTWindowState::FFTWindowState(window_size, sample_rate, harmonics)
+DSP::FFTWindowStateARM::FFTWindowStateARM(uint16_t window_size, uint16_t sample_rate)
+    : AP_HAL::DSP::FFTWindowState::FFTWindowState(window_size, sample_rate)
 {
     if (_freq_bins == nullptr || _hanning_window == nullptr || _rfft_data == nullptr || _derivative_freq_bins == nullptr) {
         GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Failed to allocate %u bytes for window %u for DSP",
diff --git a/libraries/AP_HAL_ChibiOS/DSP.h b/libraries/AP_HAL_ChibiOS/DSP.h
index 0720fe4f33..75450516d8 100644
--- a/libraries/AP_HAL_ChibiOS/DSP.h
+++ b/libraries/AP_HAL_ChibiOS/DSP.h
@@ -29,7 +29,7 @@
 class ChibiOS::DSP : public AP_HAL::DSP {
 public:
     // initialise an FFT instance
-    virtual FFTWindowState* fft_init(uint16_t window_size, uint16_t sample_rate, uint8_t harmonics) override;
+    virtual FFTWindowState* fft_init(uint16_t window_size, uint16_t sample_rate) override;
     // start an FFT analysis with an ObjectBuffer
     virtual void fft_start(FFTWindowState* state, FloatBuffer& samples, uint16_t advance) override;
     // perform remaining steps of an FFT analysis
@@ -39,7 +39,7 @@ public:
     class FFTWindowStateARM : public AP_HAL::DSP::FFTWindowState {
         friend class ChibiOS::DSP;
     public:
-        FFTWindowStateARM(uint16_t window_size, uint16_t sample_rate, uint8_t harmonics);
+        FFTWindowStateARM(uint16_t window_size, uint16_t sample_rate);
         virtual ~FFTWindowStateARM();
 
     private: