AP_InertialSensor: removed AVR1280 specific ifdef

libraries/AP_InertialSensor/AP_InertialSensor.cpp

@@ -450,7 +450,6 @@ bool AP_InertialSensor::_calculate_trim(const Vector3f &accel_sample, float& tri
     return true;
 }
 
-#if !defined( __AVR_ATmega1280__ )
 // calibrate_accel - perform accelerometer calibration including providing user
 // instructions and feedback Gauss-Newton accel calibration routines borrowed
 // from Rolfe Schmidt blog post describing the method:
@@ -635,7 +634,6 @@ failed:
     _calibrating = false;
     return false;
 }
-#endif
 
 void
 AP_InertialSensor::init_gyro()
@@ -921,8 +919,6 @@ AP_InertialSensor::_init_gyro()
     AP_Notify::flags.initialising = false;
 }
 
-#if !defined( __AVR_ATmega1280__ )
-
 /*
   check that the samples used for accel calibration have a sufficient
   range on each axis. The sphere fit in _calibrate_accel() can produce
@@ -1122,8 +1118,6 @@ void AP_InertialSensor::_calibrate_find_delta(float dS[6], float JS[6][6], float
     }
 }
 
-#endif // __AVR_ATmega1280__
-
 // save parameters to eeprom
 void AP_InertialSensor::_save_parameters()
 {

libraries/AP_InertialSensor/AP_InertialSensor.h

@@ -87,13 +87,11 @@ public:
     uint8_t register_gyro(void);
     uint8_t register_accel(void);
 
-#if !defined( __AVR_ATmega1280__ )
     // perform accelerometer calibration including providing user instructions
     // and feedback
     bool calibrate_accel(AP_InertialSensor_UserInteract *interact,
                          float& trim_roll,
                          float& trim_pitch);
-#endif
     bool calibrate_trim(float &trim_roll, float &trim_pitch);
 
     /// calibrating - returns true if the gyros or accels are currently being calibrated
@@ -242,7 +240,6 @@ private:
     // gyro initialisation
     void _init_gyro();
 
-#if !defined( __AVR_ATmega1280__ )
     // Calibration routines borrowed from Rolfe Schmidt
     // blog post describing the method: http://chionophilous.wordpress.com/2011/10/24/accelerometer-calibration-iv-1-implementing-gauss-newton-on-an-atmega/
     // original sketch available at http://rolfeschmidt.com/mathtools/skimetrics/adxl_gn_calibration.pde
@@ -259,7 +256,6 @@ private:
     void _calibrate_reset_matrices(float dS[6], float JS[6][6]);
     void _calibrate_find_delta(float dS[6], float JS[6][6], float delta[6]);
     bool _calculate_trim(const Vector3f &accel_sample, float& trim_roll, float& trim_pitch);
-#endif
 
     // save parameters to eeprom
     void  _save_parameters();

libraries/AP_InertialSensor/examples/INS_generic/INS_generic.cpp

@@ -121,12 +121,8 @@ static void run_calibration()
     }
 
 
-#if !defined( __AVR_ATmega1280__ )
     AP_InertialSensor_UserInteractStream interact(hal.console);
     ins.calibrate_accel(&interact, roll_trim, pitch_trim);
-#else
-	hal.console->println_P(PSTR("calibrate_accel not available on 1280"));
-#endif
 }
 
 static void display_offsets_and_scaling()