AHRS: removed Quaternion build support from APM/ACM/rover

APMrover2/APMrover2.pde

@@ -254,11 +254,7 @@ AP_GPS_None     g_gps_driver(NULL);
 #endif // CONFIG_IMU_TYPE
 AP_IMU_INS imu( &ins );
 
-#if QUATERNION_ENABLE == ENABLED
-  AP_AHRS_Quaternion ahrs(&imu, g_gps);
-#else
-  AP_AHRS_DCM  ahrs(&imu, g_gps);
-#endif
+AP_AHRS_DCM  ahrs(&imu, g_gps);
 
 #elif HIL_MODE == HIL_MODE_SENSORS
 // sensor emulators

APMrover2/config.h

@@ -919,7 +919,3 @@
 # define RESET_SWITCH_CHAN_PWM 1750
 #endif
 
-// experimental quaternion code
-#ifndef QUATERNION_ENABLE
-# define QUATERNION_ENABLE DISABLED
-#endif

APMrover2/system.pde

@@ -107,9 +107,6 @@ static void init_ardupilot()
 						 "\n\nFree RAM: %u\n"),
                     memcheck_available_memory());
                     
-#if QUATERNION_ENABLE == ENABLED
-    Serial.printf_P(PSTR("Quaternion test\n"));
-#endif
 	//
 	// Initialize Wire and SPI libraries
 	//

ArduCopter/ArduCopter.pde

@@ -268,14 +268,10 @@ AP_IMU_INS  imu(&ins);
 // a NULL GPS object pointer
 static GPS         *g_gps_null;
 
-#if QUATERNION_ENABLE == ENABLED
- AP_AHRS_Quaternion ahrs(&imu, g_gps_null);
-#else
- #if DMP_ENABLED == ENABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+#if DMP_ENABLED == ENABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
   AP_AHRS_MPU6000  ahrs(&imu, g_gps, &ins);		// only works with APM2
- #else
+#else
   AP_AHRS_DCM ahrs(&imu, g_gps);
- #endif
 #endif
 
 AP_TimerProcess timer_scheduler;

ArduCopter/Makefile

@@ -42,9 +42,6 @@ sitl-hexa:
 sitl-y6:
 	make -f ../libraries/Desktop/Makefile.desktop y6
 
-sitl-quaternion:
-	make -f ../libraries/Desktop/Makefile.desktop EXTRAFLAGS="-DQUATERNION_ENABLE=ENABLED"
-
 etags:
 	cd .. && etags -f ArduCopter/TAGS --langmap=C++:.pde.cpp.h $$(git ls-files ArduCopter libraries)
 

ArduCopter/config.h

@@ -1062,11 +1062,6 @@
 #endif
 
 
-// experimental quaternion code
-#ifndef QUATERNION_ENABLE
-# define QUATERNION_ENABLE DISABLED
-#endif
-
 // experimental mpu6000 DMP code
 #ifndef DMP_ENABLED
 # define DMP_ENABLED DISABLED

ArduCopter/options.cmake

@@ -38,10 +38,6 @@ apm_option("LOGGING_ENABLED" TYPE BOOL
     DESCRIPTION "Enable logging?" 
     DEFAULT OFF)
 
-apm_option("QUATERNION_ENABLE" TYPE BOOL ADVANCED
-    DESCRIPTION "Enable quaterion navigation?" 
-    DEFAULT OFF)
-
 apm_option("GPS_PROTOCOL" TYPE STRING
     DESCRIPTION "GPS protocol?"
     DEFAULT "GPS_PROTOCOL_AUTO" 

ArduCopter/setup.pde

@@ -1233,9 +1233,6 @@ static void report_gps()
 static void report_version()
 {
 	Serial.printf_P(PSTR("FW Ver: %d\n"),(int)g.format_version.get());
-#if QUATERNION_ENABLE == ENABLED
-    Serial.printf_P(PSTR("Quaternion test\n"));
-#endif
 	print_divider();
 	print_blanks(2);
 }

ArduPlane/ArduPlane.pde

@@ -214,14 +214,10 @@ AP_GPS_None     g_gps_driver(NULL);
 #endif // CONFIG_IMU_TYPE
 AP_IMU_INS imu( &ins );
 
-#if QUATERNION_ENABLE == ENABLED
-  AP_AHRS_Quaternion ahrs(&imu, g_gps);
+#if DMP_ENABLED == ENABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+ AP_AHRS_MPU6000 ahrs(&imu, g_gps, &ins);		// only works with APM2
 #else
- #if DMP_ENABLED == ENABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
-  AP_AHRS_MPU6000 ahrs(&imu, g_gps, &ins);		// only works with APM2
- #else
-  AP_AHRS_DCM ahrs(&imu, g_gps);
- #endif
+ AP_AHRS_DCM ahrs(&imu, g_gps);
 #endif
 
 #elif HIL_MODE == HIL_MODE_SENSORS

ArduPlane/Makefile

@@ -40,9 +40,6 @@ sitl:
 sitl-mount:
 	make -f ../libraries/Desktop/Makefile.desktop EXTRAFLAGS="-DMOUNT=ENABLED"
 
-sitl-quaternion:
-	make -f ../libraries/Desktop/Makefile.desktop EXTRAFLAGS="-DQUATERNION_ENABLE=ENABLED"
-
 etags:
 	cd .. && etags -f ArduPlane/TAGS --langmap=C++:.pde.cpp.h $$(git ls-files ArduPlane libraries)
 

ArduPlane/config.h

@@ -834,11 +834,6 @@
 # define RESET_SWITCH_CHAN_PWM 1750
 #endif
 
-// experimental quaternion code
-#ifndef QUATERNION_ENABLE
-# define QUATERNION_ENABLE DISABLED
-#endif
-
 // experimental mpu6000 DMP code
 #ifndef DMP_ENABLED
 # define DMP_ENABLED DISABLED

ArduPlane/options.cmake

@@ -38,10 +38,6 @@ apm_option("LOGGING_ENABLED" TYPE BOOL
     DESCRIPTION "Enable logging?" 
     DEFAULT OFF)
 
-apm_option("QUATERNION_ENABLE" TYPE BOOL ADVANCED
-    DESCRIPTION "Enable quaterion navigation?" 
-    DEFAULT OFF)
-
 apm_option("GPS_PROTOCOL" TYPE STRING
     DESCRIPTION "GPS protocol?"
     DEFAULT "GPS_PROTOCOL_AUTO" 

ArduPlane/system.pde

@@ -92,10 +92,6 @@ static void init_ardupilot()
 						 "\n\nFree RAM: %u\n"),
                     memcheck_available_memory());
 
-#if QUATERNION_ENABLE == ENABLED
-    Serial.printf_P(PSTR("Quaternion test\n"));
-#endif
-
 	//
 	// Initialize Wire and SPI libraries
 	//