AP_NavEKF2: remove internal-only getTiltError method

libraries/AP_NavEKF2/AP_NavEKF2.cpp

@@ -988,15 +988,6 @@ void NavEKF2::getGyroScaleErrorPercentage(int8_t instance, Vector3f &gyroScale)
     }
 }
 
-// return tilt error convergence metric for the specified instance
-void NavEKF2::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 NavEKF2::resetGyroBias(void)
 {

libraries/AP_NavEKF2/AP_NavEKF2.h

@@ -102,10 +102,6 @@ public:
     // An out of range instance (eg -1) returns data for the primary instance
     void getGyroScaleErrorPercentage(int8_t instance, Vector3f &gyroScale) const;
 
-    // return tilt error convergence metric for the specified instance
-    // 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_NavEKF2/AP_NavEKF2_Logging.cpp

@@ -128,8 +128,6 @@ void NavEKF2_core::Log_Write_NKF4(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_NKF4_MSG),
         time_us : time_us,
@@ -139,7 +137,7 @@ void NavEKF2_core::Log_Write_NKF4(uint64_t time_us) const
         sqrtvarH : (int16_t)(100*hgtVar),
         sqrtvarM : (int16_t)(100*tempVar),
         sqrtvarVT : (int16_t)(100*tasVar),
-        tiltErr : (float)tiltError,
+        tiltErr : tiltErrFilt,  // tilt error convergence metric
         offsetNorth : (int8_t)(offset.x),
         offsetEast : (int8_t)(offset.y),
         faults : _faultStatus,

libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp

@@ -105,12 +105,6 @@ void NavEKF2_core::getGyroScaleErrorPercentage(Vector3f &gyroScale) const
     gyroScale.z = 100.0f/stateStruct.gyro_scale.z - 100.0f;
 }
 
-// return tilt error convergence metric
-void NavEKF2_core::getTiltError(float &ang) const
-{
-    ang = tiltErrFilt;
-}
-
 // return the transformation matrix from XYZ (body) to NED axes
 void NavEKF2_core::getRotationBodyToNED(Matrix3f &mat) const
 {

libraries/AP_NavEKF2/AP_NavEKF2_core.h

@@ -117,9 +117,6 @@ public:
     // return body axis gyro scale factor error as a percentage
     void getGyroScaleErrorPercentage(Vector3f &gyroScale) const;
 
-    // return tilt error convergence metric
-    void getTiltError(float &ang) const;
-
     // reset body axis gyro bias estimates
     void resetGyroBias(void);