From aa49e92edca952d0384436447b3008f247a5e8d3 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <gncsolns@gmail.com>
Date: Sun, 21 Feb 2021 09:24:25 +1100
Subject: [PATCH] AP_AHRS: Remove unused AP_AHRS_NavEKF::yaw_alignment_complete
 API

---
 libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 37 ----------------------------
 libraries/AP_AHRS/AP_AHRS_NavEKF.h   |  1 -
 2 files changed, 38 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index 2155ce22c7..dc5f8034e4 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -2554,43 +2554,6 @@ bool AP_AHRS_NavEKF::get_variances(float &velVar, float &posVar, float &hgtVar,
     return false;
 }
 
-bool AP_AHRS_NavEKF::yaw_alignment_complete(void) const
-{
-    switch (ekf_type()) {
-    case EKFType::NONE:
-        // We are not using an EKF so no data
-        return true;
-
-#if HAL_NAVEKF2_AVAILABLE
-    case EKFType::TWO: {
-        // not provided
-        return true;
-    }
-#endif
-
-#if HAL_NAVEKF3_AVAILABLE
-    case EKFType::THREE: {
-        // use EKF to get variance
-        return EKF3.yawAlignmentComplete();
-    }
-#endif
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-    case EKFType::SITL:
-        // not provided
-        return true;
-#endif
-
-#if HAL_EXTERNAL_AHRS_ENABLED
-    case EKFType::EXTERNAL:
-        // not provided
-        return false;
-#endif
-    }
-
-    return false;
-}
-
 // get a source's velocity innovations.  source should be from 0 to 7 (see AP_NavEKF_Source::SourceXY)
 // returns true on success and results are placed in innovations and variances arguments
 bool AP_AHRS_NavEKF::get_vel_innovations_and_variances_for_source(uint8_t source, Vector3f &innovations, Vector3f &variances) const
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
index 36b75a9047..6d2ce627a3 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
@@ -282,7 +282,6 @@ public:
 
     void setTakeoffExpected(bool val);
     void setTouchdownExpected(bool val);
-    bool yaw_alignment_complete(void) const;
 
     bool getGpsGlitchStatus() const;