AP_AHRS: remove HIL support

libraries/AP_AHRS/AP_AHRS.h

@@ -220,9 +220,6 @@ public:
     // reset the current attitude, used on new IMU calibration
     virtual void reset(bool recover_eulers=false) = 0;
 
-    // reset the current attitude, used on new IMU calibration
-    virtual void reset_attitude(const float &roll, const float &pitch, const float &yaw) = 0;
-
     // return the average size of the roll/pitch error estimate
     // since last call
     virtual float get_error_rp(void) const = 0;

libraries/AP_AHRS/AP_AHRS_DCM.cpp

@@ -239,12 +239,6 @@ AP_AHRS_DCM::reset(bool recover_eulers)
     _last_startup_ms = AP_HAL::millis();
 }
 
-// reset the current attitude, used by HIL
-void AP_AHRS_DCM::reset_attitude(const float &_roll, const float &_pitch, const float &_yaw)
-{
-    _dcm_matrix.from_euler(_roll, _pitch, _yaw);
-}
-
 /*
  *  check the DCM matrix for pathological values
  */

libraries/AP_AHRS/AP_AHRS_DCM.h

@@ -69,9 +69,6 @@ public:
     void            update(bool skip_ins_update=false) override;
     void            reset(bool recover_eulers = false) override;
 
-    // reset the current attitude, used on new IMU calibration
-    void reset_attitude(const float &roll, const float &pitch, const float &yaw) override;
-
     // dead-reckoning support
     virtual bool get_position(struct Location &loc) const override;
 

libraries/AP_AHRS/AP_AHRS_NavEKF.cpp

@@ -517,26 +517,6 @@ void AP_AHRS_NavEKF::reset(bool recover_eulers)
 #endif
 }
 
-// reset the current attitude, used on new IMU calibration
-void AP_AHRS_NavEKF::reset_attitude(const float &_roll, const float &_pitch, const float &_yaw)
-{
-    // support locked access functions to AHRS data
-    WITH_SEMAPHORE(_rsem);
-    
-    AP_AHRS_DCM::reset_attitude(_roll, _pitch, _yaw);
-    _dcm_attitude = {roll, pitch, yaw};
-#if HAL_NAVEKF2_AVAILABLE
-    if (_ekf2_started) {
-        _ekf2_started = EKF2.InitialiseFilter();
-    }
-#endif
-#if HAL_NAVEKF3_AVAILABLE
-    if (_ekf3_started) {
-        _ekf3_started = EKF3.InitialiseFilter();
-    }
-#endif
-}
-
 // dead-reckoning support
 bool AP_AHRS_NavEKF::get_position(struct Location &loc) const
 {

libraries/AP_AHRS/AP_AHRS_NavEKF.h

@@ -78,9 +78,6 @@ public:
     void            update(bool skip_ins_update=false) override;
     void            reset(bool recover_eulers = false) override;
 
-    // reset the current attitude, used on new IMU calibration
-    void reset_attitude(const float &roll, const float &pitch, const float &yaw) override;
-
     // dead-reckoning support
     bool get_position(struct Location &loc) const override;