From 3582b69e9c03d45af82760d2af67f310be74e5f4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 21 Jan 2021 21:20:43 +1100
Subject: [PATCH] AP_NavEKF3: remove getFilterTimeouts access methods

---
 libraries/AP_NavEKF3/AP_NavEKF3.cpp         | 21 ---------------------
 libraries/AP_NavEKF3/AP_NavEKF3.h           | 14 --------------
 libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp |  9 +++++++--
 libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp | 20 --------------------
 libraries/AP_NavEKF3/AP_NavEKF3_core.h      | 13 -------------
 libraries/AP_NavEKF3/LogStructure.h         |  2 +-
 6 files changed, 8 insertions(+), 71 deletions(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
index c52c845e23..61afe233a7 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
@@ -1749,27 +1749,6 @@ void NavEKF3::getFilterFaults(int8_t instance, uint16_t &faults) const
     }
 }
 
-/*
-  return filter timeout status as a bitmasked integer
-  0 = position measurement timeout
-  1 = velocity measurement timeout
-  2 = height measurement timeout
-  3 = magnetometer measurement timeout
-  4 = unassigned
-  5 = unassigned
-  6 = unassigned
-  7 = unassigned
-*/
-void NavEKF3::getFilterTimeouts(int8_t instance, uint8_t &timeouts) const
-{
-    if (instance < 0 || instance >= num_cores) instance = primary;
-    if (core) {
-        core[instance].getFilterTimeouts(timeouts);
-    } else {
-        timeouts = 0;
-    }
-}
-
 /*
   return filter status flags
 */
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.h b/libraries/AP_NavEKF3/AP_NavEKF3.h
index c6c7dfa5aa..94e474f3d8 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.h
@@ -297,20 +297,6 @@ public:
     */
     void getFilterFaults(int8_t instance, uint16_t &faults) const;
 
-    /*
-    return filter timeout status as a bitmasked integer for the specified instance
-    An out of range instance (eg -1) returns data for the primary instance
-     0 = position measurement timeout
-     1 = velocity measurement timeout
-     2 = height measurement timeout
-     3 = magnetometer measurement timeout
-     4 = unassigned
-     5 = unassigned
-     6 = unassigned
-     7 = unassigned
-    */
-    void getFilterTimeouts(int8_t instance, uint8_t &timeouts) const;
-
     /*
     return filter gps quality check status for the specified instance
     An out of range instance (eg -1) returns data for the primary instance
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
index 072b9a1d1b..9c0cddd35d 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
@@ -138,13 +138,18 @@ void NavEKF3_core::Log_Write_XKF4(uint64_t time_us) const
     float tasVar = 0;
     uint16_t _faultStatus=0;
     Vector2f offset;
-    uint8_t timeoutStatus=0;
+    const uint8_t timeoutStatus =
+        posTimeout<<0 |
+        velTimeout<<1 |
+        hgtTimeout<<2 |
+        magTimeout<<3 |
+        tasTimeout<<4;
+
     nav_filter_status solutionStatus {};
     nav_gps_status gpsStatus {};
     getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
     float tempVar = fmaxf(fmaxf(magVar.x,magVar.y),magVar.z);
     getFilterFaults(_faultStatus);
-    getFilterTimeouts(timeoutStatus);
     getFilterStatus(solutionStatus);
     getFilterGpsStatus(gpsStatus);
     const struct log_NKF4 pkt4{
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
index 3cb010d6c0..d06d5693e9 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
@@ -512,26 +512,6 @@ void  NavEKF3_core::getFilterFaults(uint16_t &faults) const
               !statesInitialised<<7);
 }
 
-/*
-return filter timeout status as a bitmasked integer
- 0 = position measurement timeout
- 1 = velocity measurement timeout
- 2 = height measurement timeout
- 3 = magnetometer measurement timeout
- 4 = true airspeed measurement timeout
- 5 = unassigned
- 6 = unassigned
- 7 = unassigned
-*/
-void  NavEKF3_core::getFilterTimeouts(uint8_t &timeouts) const
-{
-    timeouts = (posTimeout<<0 |
-                velTimeout<<1 |
-                hgtTimeout<<2 |
-                magTimeout<<3 |
-                tasTimeout<<4);
-}
-
 // Return the navigation filter status message
 void  NavEKF3_core::getFilterStatus(nav_filter_status &status) const
 {
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
index 21deb51b10..6aa5a15ee1 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
@@ -317,19 +317,6 @@ public:
     */
     void getFilterFaults(uint16_t &faults) const;
 
-    /*
-    return filter timeout status as a bitmasked integer
-     0 = position measurement timeout
-     1 = velocity measurement timeout
-     2 = height measurement timeout
-     3 = magnetometer measurement timeout
-     5 = unassigned
-     6 = unassigned
-     7 = unassigned
-     7 = unassigned
-    */
-    void getFilterTimeouts(uint8_t &timeouts) const;
-
     /*
     return filter gps quality check status
     */
diff --git a/libraries/AP_NavEKF3/LogStructure.h b/libraries/AP_NavEKF3/LogStructure.h
index 767f02d07a..60356caebc 100644
--- a/libraries/AP_NavEKF3/LogStructure.h
+++ b/libraries/AP_NavEKF3/LogStructure.h
@@ -185,7 +185,7 @@ struct PACKED log_XKF3 {
 // @Field: OFN: Most recent position recent magnitude (North component)
 // @Field: OFE: Most recent position recent magnitude (East component)
 // @Field: FS: Filter fault status
-// @Field: TS: Filter timeout status
+// @Field: TS: Filter timeout status bitmask (0:position measurement, 1:velocity measurement, 2:height measurement, 3:magnetometer measurement, 4:airspeed measurement)
 // @Field: SS: Filter solution status
 // @Field: GPS: Filter GPS status
 // @Field: PI: Primary core index