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AP_AHRS: remove accessors only used internally

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This commit is contained in:
Peter Barker 2021-07-20 10:55:09 +10:00 committed by Peter Barker
parent a7366729c3
commit dc5656d34a
2 changed files with 2 additions and 21 deletions
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4
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -2759,10 +2759,10 @@ void AP_AHRS_NavEKF::set_posvelyaw_source_set(uint8_t source_set_idx)
void AP_AHRS_NavEKF::Log_Write() void AP_AHRS_NavEKF::Log_Write()
{ {
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
get_NavEKF2().Log_Write(); EKF2.Log_Write();
#endif #endif
#if HAL_NAVEKF3_AVAILABLE #if HAL_NAVEKF3_AVAILABLE
get_NavEKF3().Log_Write(); EKF3.Log_Write();
#endif #endif
} }

19
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -102,25 +102,6 @@ public:
// true if compass is being used // true if compass is being used
bool use_compass() override; bool use_compass() override;
// we will need to remove these to fully hide which EKF we are using
#if HAL_NAVEKF2_AVAILABLE
NavEKF2 &get_NavEKF2(void) {
return EKF2;
}
const NavEKF2 &get_NavEKF2_const(void) const {
return EKF2;
}
#endif
#if HAL_NAVEKF3_AVAILABLE
NavEKF3 &get_NavEKF3(void) {
return EKF3;
}
const NavEKF3 &get_NavEKF3_const(void) const {
return EKF3;
}
#endif
// return the quaternion defining the rotation from NED to XYZ (body) axes // return the quaternion defining the rotation from NED to XYZ (body) axes
bool get_quaternion(Quaternion &quat) const override WARN_IF_UNUSED; bool get_quaternion(Quaternion &quat) const override WARN_IF_UNUSED;