AP_NavEKF3: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement

libraries/AP_NavEKF3/AP_NavEKF3.cpp

@@ -1,5 +1,4 @@
 #include <AP_HAL/AP_HAL.h>
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
 
 #include "AP_NavEKF3_core.h"
 #include <AP_Vehicle/AP_Vehicle.h>
@@ -1559,4 +1558,3 @@ void NavEKF3::getTimingStatistics(int8_t instance, struct ekf_timing &timing) co
     }
 }
 
-#endif //HAL_CPU_CLASS

libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp

@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF3.h"
 #include "AP_NavEKF3_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -468,5 +466,3 @@ void NavEKF3_core::FuseSideslip()
 *                   MISC FUNCTIONS                      *
 ********************************************************/
 
-
-#endif // HAL_CPU_CLASS

libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp

@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF3.h"
 #include "AP_NavEKF3_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -562,4 +560,3 @@ void  NavEKF3_core::updateFilterStatus(void)
     filterStatus.flags.gps_quality_good = gpsGoodToAlign;
 }
 
-#endif // HAL_CPU_CLASS

libraries/AP_NavEKF3/AP_NavEKF3_GyroBias.cpp

@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF3.h"
 #include "AP_NavEKF3_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -31,5 +29,3 @@ float NavEKF3_core::InitialGyroBiasUncertainty(void) const
     return 2.5f;
 }
 
-
-#endif // HAL_CPU_CLASS

libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp

@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF3.h"
 #include "AP_NavEKF3_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -1195,5 +1193,3 @@ void NavEKF3_core::recordMagReset()
     yawInnovAtLastMagReset = innovYaw;
 }
 
-
-#endif // HAL_CPU_CLASS

libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp

@@ -1,6 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
 #include "AP_NavEKF3.h"
 #include "AP_NavEKF3_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -869,4 +868,3 @@ void NavEKF3_core::getTimingStatistics(struct ekf_timing &_timing)
     memset(&timing, 0, sizeof(timing));
 }
 
-#endif // HAL_CPU_CLASS

libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp

@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF3.h"
 #include "AP_NavEKF3_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -746,4 +744,3 @@ void NavEKF3_core::FuseOptFlow()
 *                   MISC FUNCTIONS                      *
 ********************************************************/
 
-#endif // HAL_CPU_CLASS

libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp

@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF3.h"
 #include "AP_NavEKF3_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -629,4 +627,3 @@ void NavEKF3_core::getOutputTrackingError(Vector3f &error) const
     error = outputTrackError;
 }
 
-#endif // HAL_CPU_CLASS

libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp

@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF3.h"
 #include "AP_NavEKF3_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -1609,4 +1607,3 @@ void NavEKF3_core::SelectBodyOdomFusion()
     }
 }
 
-#endif // HAL_CPU_CLASS

libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp

@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF3.h"
 #include "AP_NavEKF3_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -641,4 +639,3 @@ void NavEKF3_core::CalcRangeBeaconPosDownOffset(float obsVar, Vector3f &vehicleP
     rngBcnDataDelayed.beacon_posNED.z += bcnPosOffsetNED.z;
 }
 
-#endif // HAL_CPU_CLASS

libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp

@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF3.h"
 #include "AP_NavEKF3_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -469,4 +467,3 @@ void NavEKF3_core::detectOptFlowTakeoff(void)
     }
 }
 
-#endif // HAL_CPU_CLASS

libraries/AP_NavEKF3/AP_NavEKF3_core.cpp

@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF3.h"
 #include "AP_NavEKF3_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -691,7 +689,7 @@ void NavEKF3_core::UpdateStrapdownEquationsNED()
  * The inspiration for using a complementary filter to correct for time delays in the EKF
  * is based on the work by A Khosravian.
  *
- * “Recursive Attitude Estimation in the Presence of Multi-rate and Multi-delay Vector Measurements”
+ * "Recursive Attitude Estimation in the Presence of Multi-rate and Multi-delay Vector Measurements"
  * A Khosravian, J Trumpf, R Mahony, T Hamel, Australian National University
 */
 void NavEKF3_core::calcOutputStates()
@@ -1779,4 +1777,3 @@ void NavEKF3_core::initialiseQuatCovariances(const Vector3f &rotVarVec)
     }
 }
 
-#endif // HAL_CPU_CLASS