From 6e5077b60bfb2272f3aaaf21c34db3a87ae7a9a6 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 2 Jan 2014 16:30:27 +1100
Subject: [PATCH] AP_AHRS: removed unused AP_AHRS_HIL

---
 libraries/AP_AHRS/AP_AHRS.h       |  1 -
 libraries/AP_AHRS/AP_AHRS_HIL.cpp | 47 --------------------------
 libraries/AP_AHRS/AP_AHRS_HIL.h   | 56 -------------------------------
 3 files changed, 104 deletions(-)
 delete mode 100644 libraries/AP_AHRS/AP_AHRS_HIL.h

diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index 6689297f97..333ee7b77d 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -330,6 +330,5 @@ protected:
 
 #include <AP_AHRS_DCM.h>
 #include <AP_AHRS_NavEKF.h>
-#include <AP_AHRS_HIL.h>
 
 #endif // __AP_AHRS_H__
diff --git a/libraries/AP_AHRS/AP_AHRS_HIL.cpp b/libraries/AP_AHRS/AP_AHRS_HIL.cpp
index 7c722cfe84..e69de29bb2 100644
--- a/libraries/AP_AHRS/AP_AHRS_HIL.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_HIL.cpp
@@ -1,47 +0,0 @@
-/*
- *       APM_AHRS_HIL.cpp
- *
- *       Hardware in the loop AHRS object
-
-  This program is free software: you can redistribute it and/or modify
-  it under the terms of the GNU General Public License as published by
-  the Free Software Foundation, either version 3 of the License, or
-  (at your option) any later version.
-
-  This program is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-  GNU General Public License for more details.
-  
-  You should have received a copy of the GNU General Public License
-  along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <AP_AHRS.h>
-
-/**************************************************/
-void
-AP_AHRS_HIL::setHil(float _roll, float _pitch, float _yaw,
-                    float _rollRate, float _pitchRate, float _yawRate)
-{
-    roll = _roll;
-    pitch = _pitch;
-    yaw = _yaw;
-
-    _omega(_rollRate, _pitchRate, _yawRate);
-
-    roll_sensor  = ToDeg(roll)*100;
-    pitch_sensor = ToDeg(pitch)*100;
-    yaw_sensor   = ToDeg(yaw)*100;
-
-    _dcm_matrix.from_euler(roll, pitch, yaw);
-
-    // update trig values including _cos_roll, cos_pitch
-    update_trig();
-}
-
-// reset the current attitude, used by HIL
-void reset_attitude(const float &_roll, const float &_pitch, const float &_yaw)
-{
-    // not implemented - use setHil()
-}
diff --git a/libraries/AP_AHRS/AP_AHRS_HIL.h b/libraries/AP_AHRS/AP_AHRS_HIL.h
deleted file mode 100644
index 7c55d8f4c0..0000000000
--- a/libraries/AP_AHRS/AP_AHRS_HIL.h
+++ /dev/null
@@ -1,56 +0,0 @@
-#ifndef __AP_AHRS_HIL_H__
-#define __AP_AHRS_HIL_H__
-
-class AP_AHRS_HIL : public AP_AHRS
-{
-public:
-    // Constructors
-    AP_AHRS_HIL(AP_InertialSensor &ins, GPS *&gps) : 
-	    AP_AHRS(ins, gps),
-	    _drift()
-		{}
-
-    // Accessors
-    const Vector3f get_gyro(void) const {
-        return _omega;
-    }
-
-    const Matrix3f &get_dcm_matrix(void) const {
-	    return _dcm_matrix;
-    }
-
-    // Methods
-    void update(void) {
-        _ins.update();
-    }
-    
-    void setHil(float roll, float pitch, float yaw,
-                float rollRate, float pitchRate, float yawRate);
-
-    // return the current estimate of the gyro drift
-    const Vector3f &get_gyro_drift(void) const {
-	   return  _drift;
-    }
-
-    // reset the current attitude, used on new IMU calibration
-    void reset(bool recover_eulers=false) {
-    }
-
-    void reset_attitude(const float &_roll, const float &_pitch, const float &_yaw) {
-        // not implemented - use setHil()
-    }
-
-    float get_error_rp(void) {
-        return 0;
-    }
-    float get_error_yaw(void) {
-        return 0;
-    }
-
-private:
-    Vector3f _omega;
-    Matrix3f _dcm_matrix;
-    Vector3f _drift;
-};
-
-#endif // __AP_AHRS_HIL_H__