AP_DAL: minor review cleanups

libraries/AP_DAL/AP_DAL_Baro.cpp

@@ -22,8 +22,7 @@ void AP_DAL_Baro::start_frame()
     for (uint8_t i=0; i<_RBRH.num_instances; i++) {
         log_RBRI &RBRI = _RBRI[i];
         log_RBRI old = RBRI;
-        const uint32_t last_update_ms = baro.get_last_update(i);
-        RBRI.last_update_ms = last_update_ms;
+        RBRI.last_update_ms = baro.get_last_update(i);
         RBRI.healthy = baro.healthy(i);
         RBRI.altitude = baro.get_altitude(i);
         WRITE_REPLAY_BLOCK_IFCHANGED(RBRI, _RBRI[i], old);

libraries/AP_DAL/AP_DAL_InertialSensor.h

@@ -75,8 +75,5 @@ private:
 
     uint8_t _primary_gyro;
 
-    void log_header(uint64_t time_us);
-    void log_instance(uint64_t time_us, uint8_t i);
-
     void update_filtered(uint8_t i);
 };

libraries/AP_DAL/AP_DAL_RangeFinder.cpp

@@ -35,9 +35,8 @@ int16_t AP_DAL_RangeFinder::ground_clearance_cm_orient(enum Rotation orientation
 int16_t AP_DAL_RangeFinder::max_distance_cm_orient(enum Rotation orientation) const
 {
 #if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone)
-    const auto *rangefinder = AP::rangefinder();
-
     if (orientation != ROTATION_PITCH_270) {
+        const auto *rangefinder = AP::rangefinder();
         // the EKF only asks for this from a specific orientation.  Thankfully.
         INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
         return rangefinder->ground_clearance_cm_orient(orientation);
@@ -54,8 +53,9 @@ void AP_DAL_RangeFinder::start_frame()
         return;
     }
 
-    // EKF only asks for this *down*.
     const log_RRNH old = _RRNH;
+
+    // EKF only asks for this *down*.
     _RRNH.ground_clearance_cm = rangefinder->ground_clearance_cm_orient(ROTATION_PITCH_270);
     _RRNH.max_distance_cm = rangefinder->max_distance_cm_orient(ROTATION_PITCH_270);
     _RRNH.backend_mask = 0;