From 3b20623a31751bd1e0b0178e4329a1d09b87a949 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 18 Apr 2020 10:41:02 +0900 Subject: [PATCH] AP_NavEKF2: remove unused ext nav elements --- libraries/AP_NavEKF2/AP_NavEKF2.h | 2 +- libraries/AP_NavEKF2/AP_NavEKF2_core.h | 4 +--- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.h b/libraries/AP_NavEKF2/AP_NavEKF2.h index 20a64694cc..f8c75982e7 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2.h +++ b/libraries/AP_NavEKF2/AP_NavEKF2.h @@ -330,7 +330,7 @@ public: /* * Write position and quaternion data from an external navigation system * - * pos : position in the RH navigation frame. Frame is assumed to be NED if frameIsNED is true. (m) + * pos : position in the RH navigation frame. Frame is assumed to be NED (m) * quat : quaternion desribing the rotation from navigation frame to body frame * posErr : 1-sigma spherical position error (m) * angErr : 1-sigma spherical angle error (rad) diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.h b/libraries/AP_NavEKF2/AP_NavEKF2_core.h index 4e18d13880..ecb100e9cd 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2_core.h +++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.h @@ -321,7 +321,7 @@ public: /* * Write position and quaternion data from an external navigation system * - * pos : position in the RH navigation frame. Frame is assumed to be NED if frameIsNED is true. (m) + * pos : position in the RH navigation frame. Frame is assumed to be NED (m) * quat : quaternion desribing the rotation from navigation frame to body frame * posErr : 1-sigma spherical position error (m) * angErr : 1-sigma spherical angle error (rad) @@ -489,8 +489,6 @@ private: }; struct ext_nav_elements { - bool frameIsNED; // true if the data is in a NED navigation frame - bool unitsAreSI; // true if the data length units are scaled in metres Vector3f pos; // XYZ position measured in a RH navigation frame (m) Quaternion quat; // quaternion describing the rotation from navigation to body frame float posErr; // spherical poition measurement error 1-std (m)