From dddb285209358148fed2ef81d4f6c3a5e5eaf06c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 17 Dec 2020 15:42:23 +1100
Subject: [PATCH] AP_NavEKF2: remove internal-only getTiltError method

---
 libraries/AP_NavEKF2/AP_NavEKF2.cpp         | 9 ---------
 libraries/AP_NavEKF2/AP_NavEKF2.h           | 4 ----
 libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp | 4 +---
 libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp | 6 ------
 libraries/AP_NavEKF2/AP_NavEKF2_core.h      | 3 ---
 5 files changed, 1 insertion(+), 25 deletions(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index 49ba7ab39b..9d62a3f802 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/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)
 {
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.h b/libraries/AP_NavEKF2/AP_NavEKF2.h
index e7859ecf5f..058134abe9 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.h
+++ b/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);
 
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp
index 4096329d85..dfb7b0d5c3 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp
+++ b/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,
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
index aa3f695d99..f9bd5f5ab1 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
+++ b/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
 {
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.h b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
index 3261e3035d..d4ae686498 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_core.h
+++ b/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);