forked from Archive/PX4-Autopilot
AttPosEKF: Disable unused function
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@ -6,10 +6,10 @@
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#include <algorithm>
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#ifndef M_PI_F
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#define M_PI_F ((float)M_PI)
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#define M_PI_F static_cast<float>(M_PI)
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#endif
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#define EKF_COVARIANCE_DIVERGED 1.0e8f
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constexpr float EKF_COVARIANCE_DIVERGED = 1.0e8f;
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AttPosEKF::AttPosEKF() :
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covTimeStepMax(0.0f),
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@ -2401,6 +2401,7 @@ void AttPosEKF::RecallOmega(float* omegaForFusion, uint64_t msec)
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}
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}
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#if 0
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void AttPosEKF::quat2Tnb(Mat3f &Tnb, const float (&quat)[4])
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{
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// Calculate the nav to body cosine matrix
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@ -2425,6 +2426,7 @@ void AttPosEKF::quat2Tnb(Mat3f &Tnb, const float (&quat)[4])
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Tnb.x.z = 2*(q13 - q02);
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Tnb.y.z = 2*(q23 + q01);
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}
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#endif
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void AttPosEKF::quat2Tbn(Mat3f &Tbn_ret, const float (&quat)[4])
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{
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@ -218,7 +218,7 @@ public:
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void updateDtHgtFilt(float dt);
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void UpdateStrapdownEquationsNED();
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void UpdateStrapdownEquationsNED();
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void CovariancePrediction(float dt);
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@ -272,7 +272,7 @@ public:
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static void calcLLH(float posNED[3], double &lat, double &lon, float &hgt, double latRef, double lonRef, float hgtRef);
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static void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]);
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//static void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]);
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static inline float sq(float valIn) {return valIn * valIn;}
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