From ca6d214bb3267562de664766a4f113ad7635e2d2 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 28 Aug 2021 15:09:57 +1000 Subject: [PATCH] AP_AHRS: remove unused getGpsGlitchStatus method --- libraries/AP_AHRS/AP_AHRS.cpp | 9 --------- libraries/AP_AHRS/AP_AHRS.h | 2 -- 2 files changed, 11 deletions(-) diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp index 755e0e6c3c..56994007c9 100644 --- a/libraries/AP_AHRS/AP_AHRS.cpp +++ b/libraries/AP_AHRS/AP_AHRS.cpp @@ -2834,15 +2834,6 @@ bool AP_AHRS::get_vel_innovations_and_variances_for_source(uint8_t source, Vecto return false; } -bool AP_AHRS::getGpsGlitchStatus() const -{ - nav_filter_status ekf_status {}; - if (!get_filter_status(ekf_status)) { - return false; - } - return ekf_status.flags.gps_glitching; -} - //get the index of the active airspeed sensor, wrt the primary core uint8_t AP_AHRS::get_active_airspeed_index() const { diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h index 897bf83417..87fdc0f207 100644 --- a/libraries/AP_AHRS/AP_AHRS.h +++ b/libraries/AP_AHRS/AP_AHRS.h @@ -299,8 +299,6 @@ public: // returns the estimated magnetic field offsets in body frame bool get_mag_field_correction(Vector3f &ret) const override; - bool getGpsGlitchStatus() const; - // return the index of the airspeed we should use for airspeed measurements // with multiple airspeed sensors and airspeed affinity in EKF3, it is possible to have switched // over to a lane not using the primary airspeed sensor, so AHRS should know which airspeed sensor