From b32e8a4424b1762f801096472d083c1ac7913c6c Mon Sep 17 00:00:00 2001
From: Tom Pittenger <magicrub@gmail.com>
Date: Sun, 17 Feb 2019 10:48:21 -0800
Subject: [PATCH] AP_NavEKF2: remove HAL_CPU_CLASS_150 check, 150 is already a
 minimum requirement

---
 libraries/AP_NavEKF2/AP_NavEKF2.cpp               | 2 --
 libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp | 4 ----
 libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp       | 3 ---
 libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp     | 4 ----
 libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp  | 2 --
 libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp | 3 ---
 libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp       | 3 ---
 libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp  | 3 ---
 libraries/AP_NavEKF2/AP_NavEKF2_RngBcnFusion.cpp  | 3 ---
 libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp | 4 ----
 libraries/AP_NavEKF2/AP_NavEKF2_core.cpp          | 3 ---
 libraries/AP_NavEKF2/AP_NavEKF_GyroBias.cpp       | 3 ---
 12 files changed, 37 deletions(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index da18084645..8fbc6ca1eb 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -1,5 +1,4 @@
 #include <AP_HAL/AP_HAL.h>
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
 
 #include "AP_NavEKF2_core.h"
 #include <AP_Vehicle/AP_Vehicle.h>
@@ -1493,4 +1492,3 @@ void NavEKF2::writeExtNavData(const Vector3f &sensOffset, const Vector3f &pos, c
     }
 }
 
-#endif //HAL_CPU_CLASS
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp
index 75779be407..5250f2d2f5 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp
@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -439,5 +437,3 @@ void NavEKF2_core::FuseSideslip()
 *                   MISC FUNCTIONS                      *
 ********************************************************/
 
-
-#endif // HAL_CPU_CLASS
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
index dfa0cde7c1..e81c1dd9a5 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -518,4 +516,3 @@ void  NavEKF2_core::updateFilterStatus(void)
     filterStatus.flags.gps_quality_good = gpsGoodToAlign;
 }
 
-#endif // HAL_CPU_CLASS
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp
index 9c5d3f9319..6e5a5803a6 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp
@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -1167,5 +1165,3 @@ void NavEKF2_core::recordMagReset()
     yawInnovAtLastMagReset = innovYaw;
 }
 
-
-#endif // HAL_CPU_CLASS
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
index 4ec5450812..c7c9387c49 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
@@ -1,6 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
 #include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -857,4 +856,3 @@ void NavEKF2_core::writeExtNavData(const Vector3f &sensOffset, const Vector3f &p
 
 }
 
-#endif // HAL_CPU_CLASS
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp
index 915c5a19d6..2ca2c4ceb6 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp
@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -714,4 +712,3 @@ void NavEKF2_core::FuseOptFlow()
 *                   MISC FUNCTIONS                      *
 ********************************************************/
 
-#endif // HAL_CPU_CLASS
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
index 8e7b793c8b..947170ac98 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -617,4 +615,3 @@ void NavEKF2_core::getOutputTrackingError(Vector3f &error) const
     error = outputTrackError;
 }
 
-#endif // HAL_CPU_CLASS
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
index 83778070cc..5bcbfd9c54 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -948,4 +946,3 @@ void NavEKF2_core::selectHeightForFusion()
     }
 }
 
-#endif // HAL_CPU_CLASS
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_RngBcnFusion.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_RngBcnFusion.cpp
index 6013acaf78..29be5dd524 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_RngBcnFusion.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_RngBcnFusion.cpp
@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -581,4 +579,3 @@ void NavEKF2_core::CalcRangeBeaconPosDownOffset(float obsVar, Vector3f &vehicleP
 
 }
 
-#endif // HAL_CPU_CLASS
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
index f90d04e456..ebefb2b136 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -470,5 +468,3 @@ void NavEKF2_core::detectOptFlowTakeoff(void)
     }
 }
 
-
-#endif // HAL_CPU_CLASS
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
index 015bfc6327..6bed91053f 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -1577,4 +1575,3 @@ void NavEKF2_core::zeroAttCovOnly()
     }
 }
 
-#endif // HAL_CPU_CLASS
diff --git a/libraries/AP_NavEKF2/AP_NavEKF_GyroBias.cpp b/libraries/AP_NavEKF2/AP_NavEKF_GyroBias.cpp
index 46090689e7..84c94a000c 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF_GyroBias.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF_GyroBias.cpp
@@ -1,6 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
 
 #include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
@@ -33,5 +32,3 @@ float NavEKF2_core::InitialGyroBiasUncertainty(void) const
     return 2.5f;
 }
 
-
-#endif // HAL_CPU_CLASS