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GCS_MAVLink: remove ability to use DCM as AHRS

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This commit is contained in:
Peter Barker 2021-07-20 22:16:22 +10:00 committed by Peter Barker
parent 2926ffcd2f
commit ec17abce2e
1 changed files with 1 additions and 7 deletions
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8
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -431,7 +431,6 @@ void GCS_MAVLINK::send_proximity()
// report AHRS2 state
void GCS_MAVLINK::send_ahrs2()
{
#if AP_AHRS_NAVEKF_AVAILABLE
const AP_AHRS &ahrs = AP::ahrs();
Vector3f euler;
struct Location loc {};
@ -446,7 +445,6 @@ void GCS_MAVLINK::send_ahrs2()
loc.lat,
loc.lng);
}
#endif
}
MissionItemProtocol *GCS::get_prot_for_mission_type(const MAV_MISSION_TYPE mission_type) const
@ -2289,7 +2287,6 @@ MAV_RESULT GCS_MAVLINK::_set_mode_common(const MAV_MODE _base_mode, const uint32
*/
void GCS_MAVLINK::send_opticalflow()
{
#if AP_AHRS_NAVEKF_AVAILABLE
const OpticalFlow *optflow = AP::opticalflow();
// exit immediately if no optical flow sensor or not healthy
@ -2320,7 +2317,6 @@ void GCS_MAVLINK::send_opticalflow()
hagl, // ground distance (in meters) set to zero
flowRate.x,
flowRate.y);
#endif
}
/*
@ -4884,10 +4880,8 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
break;
case MSG_EKF_STATUS_REPORT:
#if AP_AHRS_NAVEKF_AVAILABLE
CHECK_PAYLOAD_SIZE(EKF_STATUS_REPORT);
AP::ahrs_navekf().send_ekf_status_report(chan);
#endif
break;
case MSG_MEMINFO:
@ -5572,4 +5566,4 @@ void GCS_MAVLINK::send_high_latency() const
0, // Field for custom payload.
0); // Field for custom payload.
}
#endif // HAL_HIGH_LATENCY2_ENABLED
#endif // HAL_HIGH_LATENCY2_ENABLED