From 58c23e618ece65ffef9145c07b9a0ad3e1a02694 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 18 Nov 2020 19:12:32 +1100 Subject: [PATCH] AP_Logger: remove unused IMUDT code Unused since we've moved to new Replay code --- libraries/AP_Logger/LogStructure.h | 35 ------------------------------ 1 file changed, 35 deletions(-) diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h index 3e7417d7fa..2341f259d5 100644 --- a/libraries/AP_Logger/LogStructure.h +++ b/libraries/AP_Logger/LogStructure.h @@ -253,14 +253,6 @@ struct PACKED log_IMU { uint16_t gyro_rate, accel_rate; }; -struct PACKED log_IMUDT { - LOG_PACKET_HEADER; - uint64_t time_us; - float delta_time, delta_vel_dt, delta_ang_dt; - float delta_ang_x, delta_ang_y, delta_ang_z; - float delta_vel_x, delta_vel_y, delta_vel_z; -}; - struct PACKED log_ISBH { LOG_PACKET_HEADER; uint64_t time_us; @@ -1323,11 +1315,6 @@ struct PACKED log_PSC { #define GPS_UNITS "s---SmDUmnhnh-" #define GPS_MULTS "F---0BGGB000--" -#define IMT_LABELS "TimeUS,DelT,DelvT,DelaT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ" -#define IMT_FMT "Qfffffffff" -#define IMT_UNITS "ssssrrrnnn" -#define IMT_MULTS "FF00000000" - #define ISBH_LABELS "TimeUS,N,type,instance,mul,smp_cnt,SampleUS,smp_rate" #define ISBH_FMT "QHBBHHQf" #define ISBH_UNITS "s-----sz" @@ -1718,19 +1705,6 @@ struct PACKED log_PSC { // @Field: GyrY: measured rotation rate about Y axis // @Field: GyrZ: measured rotation rate about Z axis -// @LoggerMessage: IMT,IMT2,IMT3 -// @Description: Inertial Measurement Unit timing data -// @Field: TimeUS: Time since system startup -// @Field: DelT: Delta time -// @Field: DelvT: Delta velocity accumulation time -// @Field: DelaT: Delta angle accumulation time -// @Field: DelAX: Accumulated delta angle X -// @Field: DelAY: Accumulated delta angle Y -// @Field: DelAZ: Accumulated delta angle Z -// @Field: DelVX: Accumulated delta velocity X -// @Field: DelVY: Accumulated delta velocity Y -// @Field: DelVZ: Accumulated delta velocity Z - // @LoggerMessage: IMU // @Description: Inertial Measurement Unit data // @Field: TimeUS: Time since system startup @@ -2648,12 +2622,6 @@ struct PACKED log_PSC { "DSTL", "QBfLLeccfeffff", "TimeUS,Stg,THdg,Lat,Lng,Alt,XT,Travel,L1I,Loiter,Des,P,I,D", "s??DUm--------", "F??000--------" }, \ { LOG_VIBE_MSG, sizeof(log_Vibe), \ "VIBE", "QBfffI", "TimeUS,IMU,VibeX,VibeY,VibeZ,Clip", "s#----", "F-----" }, \ - { LOG_IMUDT_MSG, sizeof(log_IMUDT), \ - "IMT",IMT_FMT,IMT_LABELS, IMT_UNITS, IMT_MULTS }, \ - { LOG_IMUDT2_MSG, sizeof(log_IMUDT), \ - "IMT2",IMT_FMT,IMT_LABELS, IMT_UNITS, IMT_MULTS }, \ - { LOG_IMUDT3_MSG, sizeof(log_IMUDT), \ - "IMT3",IMT_FMT,IMT_LABELS, IMT_UNITS, IMT_MULTS }, \ { LOG_ISBH_MSG, sizeof(log_ISBH), \ "ISBH",ISBH_FMT,ISBH_LABELS,ISBH_UNITS,ISBH_MULTS }, \ { LOG_ISBD_MSG, sizeof(log_ISBD), \ @@ -2801,9 +2769,6 @@ enum LogMessages : uint8_t { LOG_PIDS_MSG, LOG_DSTL_MSG, LOG_VIBE_MSG, - LOG_IMUDT_MSG, - LOG_IMUDT2_MSG, - LOG_IMUDT3_MSG, LOG_ORGN_MSG, LOG_RPM_MSG, LOG_GPA_MSG,