AP_NavEKF3: remove internal-only getTiltError method

libraries/AP_NavEKF3/AP_NavEKF3.cpp

@@ -1188,15 +1188,6 @@ void NavEKF3::getAccelBias(int8_t instance, Vector3f &accelBias) const
     }
 }
 
-// return estimated 1-sigma tilt error for the specified instance in radians
-void NavEKF3::getTiltError(int8_t instance, float &ang) const
-{
-    if (instance < 0 || instance >= num_cores) instance = primary;
-    if (core) {
-        core[instance].getTiltError(ang);
-    }
-}
-
 // reset body axis gyro bias estimates
 void NavEKF3::resetGyroBias(void)
 {

libraries/AP_NavEKF3/AP_NavEKF3.h

@@ -101,10 +101,6 @@ public:
     // An out of range instance (eg -1) returns data for the primary instance
     void getAccelBias(int8_t instance, Vector3f &accelBias) const;
 
-    // return estimated 1-sigma tilt error for the specified instance in radians
-    // An out of range instance (eg -1) returns data for the primary instance
-    void getTiltError(int8_t instance, float &ang) const;
-
     // reset body axis gyro bias estimates
     void resetGyroBias(void);
 

libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp

@@ -147,8 +147,6 @@ void NavEKF3_core::Log_Write_XKF4(uint64_t time_us) const
     getFilterTimeouts(timeoutStatus);
     getFilterStatus(solutionStatus);
     getFilterGpsStatus(gpsStatus);
-    float tiltError;
-    getTiltError(tiltError);
     const struct log_NKF4 pkt4{
         LOG_PACKET_HEADER_INIT(LOG_XKF4_MSG),
         time_us : time_us,
@@ -158,7 +156,7 @@ void NavEKF3_core::Log_Write_XKF4(uint64_t time_us) const
         sqrtvarH : (int16_t)(100*hgtVar),
         sqrtvarM : (int16_t)(100*tempVar),
         sqrtvarVT : (int16_t)(100*tasVar),
-        tiltErr : tiltError,
+        tiltErr : sqrtf(MAX(tiltErrorVariance,0.0f)),  // estimated 1-sigma tilt error in radians
         offsetNorth : (int8_t)(offset.x),
         offsetEast : (int8_t)(offset.y),
         faults : _faultStatus,

libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp

@@ -123,12 +123,6 @@ void NavEKF3_core::getAccelBias(Vector3f &accelBias) const
     accelBias = stateStruct.accel_bias / dtEkfAvg;
 }
 
-// return estimated 1-sigma tilt error in radians
-void NavEKF3_core::getTiltError(float &ang) const
-{
-    ang = sqrtf(MAX(tiltErrorVariance,0.0f));
-}
-
 // return the transformation matrix from XYZ (body) to NED axes
 void NavEKF3_core::getRotationBodyToNED(Matrix3f &mat) const
 {

libraries/AP_NavEKF3/AP_NavEKF3_core.h

@@ -131,9 +131,6 @@ public:
     // return accelerometer bias in m/s/s
     void getAccelBias(Vector3f &accelBias) const;
 
-    // return estimated 1-sigma tilt error in radians
-    void getTiltError(float &ang) const;
-
     // reset body axis gyro bias estimates
     void resetGyroBias(void);