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AP_NavEKF2: remove internal-only getTiltError method

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Peter Barker 2020-12-17 15:42:23 +11:00 committed by Peter Barker
parent 5ad0ac6727
commit dddb285209
5 changed files with 1 additions and 25 deletions
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9
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -988,15 +988,6 @@ void NavEKF2::getGyroScaleErrorPercentage(int8_t instance, Vector3f &gyroScale)
} }
} }
// return tilt error convergence metric for the specified instance
void NavEKF2::getTiltError(int8_t instance, float &ang) const
{
if (instance < 0 || instance >= num_cores) instance = primary;
if (core) {
core[instance].getTiltError(ang);
}
}
// reset body axis gyro bias estimates // reset body axis gyro bias estimates
void NavEKF2::resetGyroBias(void) void NavEKF2::resetGyroBias(void)
{ {

4
libraries/AP_NavEKF2/AP_NavEKF2.h
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@ -102,10 +102,6 @@ public:
// An out of range instance (eg -1) returns data for the primary instance // An out of range instance (eg -1) returns data for the primary instance
void getGyroScaleErrorPercentage(int8_t instance, Vector3f &gyroScale) const; void getGyroScaleErrorPercentage(int8_t instance, Vector3f &gyroScale) const;
// return tilt error convergence metric for the specified instance
// An out of range instance (eg -1) returns data for the primary instance
void getTiltError(int8_t instance, float &ang) const;
// reset body axis gyro bias estimates // reset body axis gyro bias estimates
void resetGyroBias(void); void resetGyroBias(void);

4
libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp
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@ -128,8 +128,6 @@ void NavEKF2_core::Log_Write_NKF4(uint64_t time_us) const
getFilterTimeouts(timeoutStatus); getFilterTimeouts(timeoutStatus);
getFilterStatus(solutionStatus); getFilterStatus(solutionStatus);
getFilterGpsStatus(gpsStatus); getFilterGpsStatus(gpsStatus);
float tiltError;
getTiltError(tiltError);
const struct log_NKF4 pkt4{ const struct log_NKF4 pkt4{
LOG_PACKET_HEADER_INIT(LOG_NKF4_MSG), LOG_PACKET_HEADER_INIT(LOG_NKF4_MSG),
time_us : time_us, time_us : time_us,
@ -139,7 +137,7 @@ void NavEKF2_core::Log_Write_NKF4(uint64_t time_us) const
sqrtvarH : (int16_t)(100*hgtVar), sqrtvarH : (int16_t)(100*hgtVar),
sqrtvarM : (int16_t)(100*tempVar), sqrtvarM : (int16_t)(100*tempVar),
sqrtvarVT : (int16_t)(100*tasVar), sqrtvarVT : (int16_t)(100*tasVar),
tiltErr : (float)tiltError, tiltErr : tiltErrFilt, // tilt error convergence metric
offsetNorth : (int8_t)(offset.x), offsetNorth : (int8_t)(offset.x),
offsetEast : (int8_t)(offset.y), offsetEast : (int8_t)(offset.y),
faults : _faultStatus, faults : _faultStatus,

6
libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
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@ -105,12 +105,6 @@ void NavEKF2_core::getGyroScaleErrorPercentage(Vector3f &gyroScale) const
gyroScale.z = 100.0f/stateStruct.gyro_scale.z - 100.0f; gyroScale.z = 100.0f/stateStruct.gyro_scale.z - 100.0f;
} }
// return tilt error convergence metric
void NavEKF2_core::getTiltError(float &ang) const
{
ang = tiltErrFilt;
}
// return the transformation matrix from XYZ (body) to NED axes // return the transformation matrix from XYZ (body) to NED axes
void NavEKF2_core::getRotationBodyToNED(Matrix3f &mat) const void NavEKF2_core::getRotationBodyToNED(Matrix3f &mat) const
{ {

3
libraries/AP_NavEKF2/AP_NavEKF2_core.h
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@ -117,9 +117,6 @@ public:
// return body axis gyro scale factor error as a percentage // return body axis gyro scale factor error as a percentage
void getGyroScaleErrorPercentage(Vector3f &gyroScale) const; void getGyroScaleErrorPercentage(Vector3f &gyroScale) const;
// return tilt error convergence metric
void getTiltError(float &ang) const;
// reset body axis gyro bias estimates // reset body axis gyro bias estimates
void resetGyroBias(void); void resetGyroBias(void);