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AP_NavEKF3: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement

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This commit is contained in:
Tom Pittenger 2019-02-17 10:51:52 -08:00
parent b32e8a4424
commit 55377b234f
12 changed files with 1 additions and 38 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -1,5 +1,4 @@
#include <AP_HAL/AP_HAL.h>
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
#include "AP_NavEKF3_core.h"
#include <AP_Vehicle/AP_Vehicle.h>
@ -1559,4 +1558,3 @@ void NavEKF3::getTimingStatistics(int8_t instance, struct ekf_timing &timing) co
}
}
#endif //HAL_CPU_CLASS

4
libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp
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@ -1,7 +1,5 @@
#include <AP_HAL/AP_HAL.h>
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
#include "AP_NavEKF3.h"
#include "AP_NavEKF3_core.h"
#include <AP_AHRS/AP_AHRS.h>
@ -468,5 +466,3 @@ void NavEKF3_core::FuseSideslip()
* MISC FUNCTIONS *
********************************************************/
#endif // HAL_CPU_CLASS

3
libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
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@ -1,7 +1,5 @@
#include <AP_HAL/AP_HAL.h>
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
#include "AP_NavEKF3.h"
#include "AP_NavEKF3_core.h"
#include <AP_AHRS/AP_AHRS.h>
@ -562,4 +560,3 @@ void NavEKF3_core::updateFilterStatus(void)
filterStatus.flags.gps_quality_good = gpsGoodToAlign;
}
#endif // HAL_CPU_CLASS

4
libraries/AP_NavEKF3/AP_NavEKF3_GyroBias.cpp
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@ -1,7 +1,5 @@
#include <AP_HAL/AP_HAL.h>
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
#include "AP_NavEKF3.h"
#include "AP_NavEKF3_core.h"
#include <AP_AHRS/AP_AHRS.h>
@ -31,5 +29,3 @@ float NavEKF3_core::InitialGyroBiasUncertainty(void) const
return 2.5f;
}
#endif // HAL_CPU_CLASS

4
libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
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@ -1,7 +1,5 @@
#include <AP_HAL/AP_HAL.h>
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
#include "AP_NavEKF3.h"
#include "AP_NavEKF3_core.h"
#include <AP_AHRS/AP_AHRS.h>
@ -1195,5 +1193,3 @@ void NavEKF3_core::recordMagReset()
yawInnovAtLastMagReset = innovYaw;
}
#endif // HAL_CPU_CLASS

2
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
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@ -1,6 +1,5 @@
#include <AP_HAL/AP_HAL.h>
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
#include "AP_NavEKF3.h"
#include "AP_NavEKF3_core.h"
#include <AP_AHRS/AP_AHRS.h>
@ -869,4 +868,3 @@ void NavEKF3_core::getTimingStatistics(struct ekf_timing &_timing)
memset(&timing, 0, sizeof(timing));
}
#endif // HAL_CPU_CLASS

3
libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp
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@ -1,7 +1,5 @@
#include <AP_HAL/AP_HAL.h>
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
#include "AP_NavEKF3.h"
#include "AP_NavEKF3_core.h"
#include <AP_AHRS/AP_AHRS.h>
@ -746,4 +744,3 @@ void NavEKF3_core::FuseOptFlow()
* MISC FUNCTIONS *
********************************************************/
#endif // HAL_CPU_CLASS

3
libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
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@ -1,7 +1,5 @@
#include <AP_HAL/AP_HAL.h>
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
#include "AP_NavEKF3.h"
#include "AP_NavEKF3_core.h"
#include <AP_AHRS/AP_AHRS.h>
@ -629,4 +627,3 @@ void NavEKF3_core::getOutputTrackingError(Vector3f &error) const
error = outputTrackError;
}
#endif // HAL_CPU_CLASS

3
libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
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@ -1,7 +1,5 @@
#include <AP_HAL/AP_HAL.h>
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
#include "AP_NavEKF3.h"
#include "AP_NavEKF3_core.h"
#include <AP_AHRS/AP_AHRS.h>
@ -1609,4 +1607,3 @@ void NavEKF3_core::SelectBodyOdomFusion()
}
}
#endif // HAL_CPU_CLASS

3
libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
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@ -1,7 +1,5 @@
#include <AP_HAL/AP_HAL.h>
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
#include "AP_NavEKF3.h"
#include "AP_NavEKF3_core.h"
#include <AP_AHRS/AP_AHRS.h>
@ -641,4 +639,3 @@ void NavEKF3_core::CalcRangeBeaconPosDownOffset(float obsVar, Vector3f &vehicleP
rngBcnDataDelayed.beacon_posNED.z += bcnPosOffsetNED.z;
}
#endif // HAL_CPU_CLASS

3
libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp
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@ -1,7 +1,5 @@
#include <AP_HAL/AP_HAL.h>
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
#include "AP_NavEKF3.h"
#include "AP_NavEKF3_core.h"
#include <AP_AHRS/AP_AHRS.h>
@ -469,4 +467,3 @@ void NavEKF3_core::detectOptFlowTakeoff(void)
}
}
#endif // HAL_CPU_CLASS

5
libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -1,7 +1,5 @@
#include <AP_HAL/AP_HAL.h>
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
#include "AP_NavEKF3.h"
#include "AP_NavEKF3_core.h"
#include <AP_AHRS/AP_AHRS.h>
@ -691,7 +689,7 @@ void NavEKF3_core::UpdateStrapdownEquationsNED()
* The inspiration for using a complementary filter to correct for time delays in the EKF
* is based on the work by A Khosravian.
*
* “Recursive Attitude Estimation in the Presence of Multi-rate and Multi-delay Vector Measurements”
* "Recursive Attitude Estimation in the Presence of Multi-rate and Multi-delay Vector Measurements"
* A Khosravian, J Trumpf, R Mahony, T Hamel, Australian National University
*/
void NavEKF3_core::calcOutputStates()
@ -1779,4 +1777,3 @@ void NavEKF3_core::initialiseQuatCovariances(const Vector3f &rotVarVec)
}
}
#endif // HAL_CPU_CLASS