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AP_AHRS: removed get_roll_rate_earth() and get_pitch_rate_earth()

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these are not used any more
This commit is contained in:
Andrew Tridgell 2013-07-13 20:16:34 +10:00
parent 113bc20f8a
commit b721bcc129
2 changed files with 0 additions and 17 deletions
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13
libraries/AP_AHRS/AP_AHRS.cpp
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@ -100,19 +100,6 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] PROGMEM = {
AP_GROUPEND
};
// get pitch rate in earth frame, in radians/s
float AP_AHRS::get_pitch_rate_earth(void) const
{
Vector3f omega = get_gyro();
return cosf(roll) * omega.y - sinf(roll) * omega.z;
}
// get roll rate in earth frame, in radians/s
float AP_AHRS::get_roll_rate_earth(void) const {
Vector3f omega = get_gyro();
return omega.x + tanf(pitch)*(omega.y*sinf(roll) + omega.z*cosf(roll));
}
// return airspeed estimate if available
bool AP_AHRS::airspeed_estimate(float *airspeed_ret)
{

4
libraries/AP_AHRS/AP_AHRS.h
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@ -97,10 +97,6 @@ public:
int32_t pitch_sensor;
int32_t yaw_sensor;
// roll and pitch rates in earth frame, in radians/s
float get_pitch_rate_earth(void) const;
float get_roll_rate_earth(void) const;
// return a smoothed and corrected gyro vector
virtual const Vector3f get_gyro(void) const = 0;