EKF estimator: Remove unused params

src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp

@@ -397,16 +397,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 
 					hrt_abstime vel_t = 0;
 					bool vel_valid = false;
-					if (ekf_params.acc_comp == 1 && gps.fix_type >= 3 && gps.eph < 10.0f && gps.vel_ned_valid && hrt_absolute_time() < gps.timestamp_velocity + 500000) {
-						vel_valid = true;
-						if (gps_updated) {
-							vel_t = gps.timestamp_velocity;
-							vel(0) = gps.vel_n_m_s;
-							vel(1) = gps.vel_e_m_s;
-							vel(2) = gps.vel_d_m_s;
-						}
-
-					} else if (ekf_params.acc_comp == 2 && gps.eph < 5.0f && global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) {
+					if (gps.eph < 5.0f && global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) {
 						vel_valid = true;
 						if (global_pos_updated) {
 							vel_t = global_pos.timestamp;
@@ -487,8 +478,6 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 						if (gps.eph < 20.0f && hrt_elapsed_time(&gps.timestamp_position) < 1000000) {
 							mag_decl = math::radians(get_mag_declination(gps.lat / 1e7f, gps.lon / 1e7f));
 
-						} else {
-							mag_decl = ekf_params.mag_decl;
 						}
 
 						/* update mag declination rotation matrix */

src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c

@@ -107,11 +107,6 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f);
  */
 PARAM_DEFINE_INT32(EKF_ATT_ENABLED, 1);
 
-/* magnetic declination, in degrees */
-PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f);
-
-PARAM_DEFINE_INT32(ATT_ACC_COMP, 2);
-
 /**
  * Moment of inertia matrix diagonal entry (1, 1)
  *
@@ -159,10 +154,6 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h)
 	h->r1 	=	param_find("EKF_ATT_V4_R1");
 	h->r2 	=	param_find("EKF_ATT_V4_R2");
 
-	h->mag_decl   =	param_find("ATT_MAG_DECL");
-
-	h->acc_comp   =	param_find("ATT_ACC_COMP");
-
 	h->moment_inertia_J[0]  =   param_find("ATT_J11");
 	h->moment_inertia_J[1]  =   param_find("ATT_J22");
 	h->moment_inertia_J[2]  =   param_find("ATT_J33");
@@ -182,11 +173,6 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru
 	param_get(h->r1, &(p->r[1]));
 	param_get(h->r2, &(p->r[2]));
 
-	param_get(h->mag_decl, &(p->mag_decl));
-	p->mag_decl *= M_PI_F / 180.0f;
-
-	param_get(h->acc_comp, &(p->acc_comp));
-
 	for (int i = 0; i < 3; i++) {
 		param_get(h->moment_inertia_J[i], &(p->moment_inertia_J[3 * i + i]));
 	}