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Blimp: remove ability to use DCM as AHRS

gps-1.3.1
Peter Barker 4 years ago committed by Peter Barker
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e3b8fc6646
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271519f6e2
1 changed files with 0 additions and 2 deletions
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  1. 2
      Blimp/ekf_check.cpp

2
Blimp/ekf_check.cpp
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@ -185,14 +185,12 @@ void Blimp::check_ekf_reset()
AP::logger().Write_Event(LogEvent::EKF_YAW_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 // 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)) { if ((ahrs.get_primary_core_index() != ekf_primary_core) && (ahrs.get_primary_core_index() != -1)) {
ekf_primary_core = ahrs.get_primary_core_index(); ekf_primary_core = ahrs.get_primary_core_index();
AP::logger().Write_Error(LogErrorSubsystem::EKF_PRIMARY, LogErrorCode(ekf_primary_core)); 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); gcs().send_text(MAV_SEVERITY_WARNING, "EKF primary changed:%d", (unsigned)ekf_primary_core);
} }
#endif
} }
// check for high vibrations affecting altitude control // check for high vibrations affecting altitude control

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