From 271519f6e29ab62445441a685e2e4af6337869ae Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 20 Jul 2021 22:16:23 +1000 Subject: [PATCH] Blimp: remove ability to use DCM as AHRS --- Blimp/ekf_check.cpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/Blimp/ekf_check.cpp b/Blimp/ekf_check.cpp index 7dfb7c411a..8bc678922f 100644 --- a/Blimp/ekf_check.cpp +++ b/Blimp/ekf_check.cpp @@ -185,14 +185,12 @@ void Blimp::check_ekf_reset() AP::logger().Write_Event(LogEvent::EKF_YAW_RESET); } -#if AP_AHRS_NAVEKF_AVAILABLE && (HAL_NAVEKF2_AVAILABLE || HAL_NAVEKF3_AVAILABLE) // check for change in primary EKF, reset attitude target and log. AC_PosControl handles position target adjustment if ((ahrs.get_primary_core_index() != ekf_primary_core) && (ahrs.get_primary_core_index() != -1)) { ekf_primary_core = ahrs.get_primary_core_index(); AP::logger().Write_Error(LogErrorSubsystem::EKF_PRIMARY, LogErrorCode(ekf_primary_core)); gcs().send_text(MAV_SEVERITY_WARNING, "EKF primary changed:%d", (unsigned)ekf_primary_core); } -#endif } // check for high vibrations affecting altitude control