Copter: integrate ahrs::get_variances change

offset is no longer returned

ArduCopter/AP_Arming.cpp

@@ -556,8 +556,7 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
     // check EKF compass variance is below failsafe threshold
     float vel_variance, pos_variance, hgt_variance, tas_variance;
     Vector3f mag_variance;
-    Vector2f offset;
-    ahrs.get_variances(vel_variance, pos_variance, hgt_variance, mag_variance, tas_variance, offset);
+    ahrs.get_variances(vel_variance, pos_variance, hgt_variance, mag_variance, tas_variance);
     if (copter.g.fs_ekf_thresh > 0 && mag_variance.length() >= copter.g.fs_ekf_thresh) {
         check_failed(display_failure, "EKF compass variance");
         return false;

ArduCopter/ekf_check.cpp

@@ -108,8 +108,7 @@ bool Copter::ekf_over_threshold()
     // use EKF to get variance
     float position_variance, vel_variance, height_variance, tas_variance;
     Vector3f mag_variance;
-    Vector2f offset;
-    ahrs.get_variances(vel_variance, position_variance, height_variance, mag_variance, tas_variance, offset);
+    ahrs.get_variances(vel_variance, position_variance, height_variance, mag_variance, tas_variance);
 
     const float mag_max = fmaxf(fmaxf(mag_variance.x,mag_variance.y),mag_variance.z);
 
@@ -237,8 +236,7 @@ void Copter::check_vibration()
     // check if vertical velocity variance is at least 1 (NK4.SV >= 1.0)
     float position_variance, vel_variance, height_variance, tas_variance;
     Vector3f mag_variance;
-    Vector2f offset;
-    if (!ahrs.get_variances(vel_variance, position_variance, height_variance, mag_variance, tas_variance, offset)) {
+    if (!ahrs.get_variances(vel_variance, position_variance, height_variance, mag_variance, tas_variance)) {
         checks_succeeded = false;
     }