AP_NavEKF2: removed inhibitGps and inhibitGpsVertVel options

these were unused

libraries/AP_NavEKF2/AP_NavEKF2.cpp

@@ -1023,34 +1023,6 @@ bool NavEKF2::resetHeightDatum(void)
     return status;
 }
 
-// Commands the EKF to not use GPS.
-// This command must be sent prior to arming as it will only be actioned when the filter is in static mode
-// This command is forgotten by the EKF each time it goes back into static mode (eg the vehicle disarms)
-// Returns 0 if command rejected
-// Returns 1 if attitude, vertical velocity and vertical position will be provided
-// Returns 2 if attitude, 3D-velocity, vertical position and relative horizontal position will be provided
-uint8_t NavEKF2::setInhibitGPS(void)
-{
-    AP::dal().log_event2(AP_DAL::Event::setInhibitGPS);
-
-    if (!core) {
-        return 0;
-    }
-    return core[primary].setInhibitGPS();
-}
-
-// Set the argument to true to prevent the EKF using the GPS vertical velocity
-// This can be used for situations where GPS velocity errors are causing problems with height accuracy
-void NavEKF2::setInhibitGpsVertVelUse(const bool varIn) {
-    if (varIn) {
-        AP::dal().log_event2(AP_DAL::Event::setInhibitGpsVertVelUse);
-    } else {
-        AP::dal().log_event2(AP_DAL::Event::unsetInhibitGpsVertVelUse);
-    }
-    inhibitGpsVertVelUse = varIn;
-};
-
-
 // return the horizontal speed limit in m/s set by optical flow sensor limits
 // return the scale factor to be applied to navigation velocity gains to compensate for increase in velocity noise with height when using optical flow
 void NavEKF2::getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler) const

libraries/AP_NavEKF2/AP_NavEKF2.h

@@ -114,18 +114,6 @@ public:
     // If using a range finder for height no reset is performed and it returns false
     bool resetHeightDatum(void);
 
-    // Commands the EKF to not use GPS.
-    // This command must be sent prior to arming as it will only be actioned when the filter is in static mode
-    // This command is forgotten by the EKF each time it goes back into static mode (eg the vehicle disarms)
-    // Returns 0 if command rejected
-    // Returns 1 if attitude, vertical velocity and vertical position will be provided
-    // Returns 2 if attitude, 3D-velocity, vertical position and relative horizontal position will be provided
-    uint8_t setInhibitGPS(void);
-
-    // Set the argument to true to prevent the EKF using the GPS vertical velocity
-    // This can be used for situations where GPS velocity errors are causing problems with height accuracy
-    void setInhibitGpsVertVelUse(const bool varIn);
-
     // return the horizontal speed limit in m/s set by optical flow sensor limits
     // return the scale factor to be applied to navigation velocity gains to compensate for increase in velocity noise with height when using optical flow
     void getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler) const;
@@ -504,8 +492,6 @@ private:
 
     bool runCoreSelection; // true when the primary core has stabilised and the core selection logic can be started
 
-    bool inhibitGpsVertVelUse;  // true when GPS vertical velocity use is prohibited
-
     // time of last lane switch
     uint32_t lastLaneSwitch_ms;
 

libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp

@@ -162,7 +162,7 @@ void NavEKF2_core::setAidingMode()
         bool filterIsStable = tiltAlignComplete && yawAlignComplete && checkGyroCalStatus();
         // If GPS usage has been prohiited then we use flow aiding provided optical flow data is present
         // GPS aiding is the preferred option unless excluded by the user
-        bool canUseGPS = ((frontend->_fusionModeGPS) != 3 && readyToUseGPS() && filterIsStable && !gpsInhibit);
+        bool canUseGPS = ((frontend->_fusionModeGPS) != 3 && readyToUseGPS() && filterIsStable);
         bool canUseRangeBeacon = readyToUseRangeBeacon() && filterIsStable;
         bool canUseExtNav = readyToUseExtNav();
         if(canUseGPS || canUseRangeBeacon || canUseExtNav) {
@@ -180,7 +180,7 @@ void NavEKF2_core::setAidingMode()
         bool flowFusionTimeout = ((imuSampleTime_ms - prevFlowFuseTime_ms) > 5000);
         // Enable switch to absolute position mode if GPS is available
         // If GPS is not available and flow fusion has timed out, then fall-back to no-aiding
-        if((frontend->_fusionModeGPS) != 3 && readyToUseGPS() && !gpsInhibit) {
+        if((frontend->_fusionModeGPS) != 3 && readyToUseGPS()) {
             PV_AidingMode = AID_ABSOLUTE;
         } else if (flowSensorTimeout || flowFusionTimeout) {
             PV_AidingMode = AID_NONE;
@@ -299,7 +299,7 @@ void NavEKF2_core::setAidingMode()
             break;
 
         case AID_ABSOLUTE: {
-            bool canUseGPS = ((frontend->_fusionModeGPS) != 3 && readyToUseGPS() && !gpsInhibit);
+            bool canUseGPS = ((frontend->_fusionModeGPS) != 3 && readyToUseGPS());
             bool canUseRangeBeacon = readyToUseRangeBeacon();
             bool canUseExtNav = readyToUseExtNav();
             // We have commenced aiding and GPS usage is allowed
@@ -484,23 +484,6 @@ bool NavEKF2_core::checkGyroCalStatus(void)
     return delAngBiasLearned;
 }
 
-// Commands the EKF to not use GPS.
-// This command must be sent prior to arming
-// This command is forgotten by the EKF each time the vehicle disarms
-// Returns 0 if command rejected
-// Returns 1 if attitude, vertical velocity and vertical position will be provided
-// Returns 2 if attitude, 3D-velocity, vertical position and relative horizontal position will be provided
-uint8_t NavEKF2_core::setInhibitGPS(void)
-{
-    if((PV_AidingMode == AID_ABSOLUTE) && motorsArmed) {
-        return 0;
-    } else {
-        gpsInhibit = true;
-        return 1;
-    }
-    // option 2 is not yet implemented as it requires a deeper integration of optical flow and GPS operation
-}
-
 // Update the filter status
 void  NavEKF2_core::updateFilterStatus(void)
 {

libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp

@@ -569,7 +569,7 @@ void NavEKF2_core::readGpsData()
             }
 
             // Check if GPS can output vertical velocity, if it is allowed to be used, and set GPS fusion mode accordingly
-            if (gps.have_vertical_velocity() && frontend->_fusionModeGPS == 0 && !frontend->inhibitGpsVertVelUse) {
+            if (gps.have_vertical_velocity() && frontend->_fusionModeGPS == 0) {
                 useGpsVertVel = true;
             } else {
                 useGpsVertVel = false;

libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp

@@ -220,7 +220,7 @@ void NavEKF2_core::ResetHeight(void)
     // Reset the vertical velocity state using GPS vertical velocity if we are airborne
     // Check that GPS vertical velocity data is available and can be used
     if (inFlight && !gpsNotAvailable && frontend->_fusionModeGPS == 0 &&
-        dal.gps().have_vertical_velocity() && !frontend->inhibitGpsVertVelUse) {
+        dal.gps().have_vertical_velocity()) {
         stateStruct.velocity.z =  gpsDataNew.vel.z;
     } else if (inFlight && useExtNavVel) {
         stateStruct.velocity.z = extNavVelNew.vel.z;
@@ -707,7 +707,7 @@ void NavEKF2_core::FuseVelPosNED()
             uint8_t imax = 2;
             // Don't fuse vertical velocity observations if inhibited by the user or if we are using synthetic data
             if (!useExtNavVel && (frontend->_fusionModeGPS > 0 || PV_AidingMode != AID_ABSOLUTE ||
-                                  frontend->inhibitGpsVertVelUse || !dal.gps().have_vertical_velocity())) {
+                                  !dal.gps().have_vertical_velocity())) {
                 imax = 1;
             }
             float innovVelSumSq = 0; // sum of squares of velocity innovations

libraries/AP_NavEKF2/AP_NavEKF2_core.cpp

@@ -246,7 +246,6 @@ void NavEKF2_core::InitialiseVariables()
     quatAtLastMagReset = stateStruct.quat;
     delAngBiasLearned = false;
     memset(&filterStatus, 0, sizeof(filterStatus));
-    gpsInhibit = false;
     activeHgtSource = 0;
     memset(&rngMeasIndex, 0, sizeof(rngMeasIndex));
     memset(&storedRngMeasTime_ms, 0, sizeof(storedRngMeasTime_ms));

libraries/AP_NavEKF2/AP_NavEKF2_core.h

@@ -129,14 +129,6 @@ public:
     // If using a range finder for height no reset is performed and it returns false
     bool resetHeightDatum(void);
 
-    // Commands the EKF to not use GPS.
-    // This command must be sent prior to arming as it will only be actioned when the filter is in static mode
-    // This command is forgotten by the EKF each time it goes back into static mode (eg the vehicle disarms)
-    // Returns 0 if command rejected
-    // Returns 1 if attitude, vertical velocity and vertical position will be provided
-    // Returns 2 if attitude, 3D-velocity, vertical position and relative horizontal position will be provided
-    uint8_t setInhibitGPS(void);
-
     // return the horizontal speed limit in m/s set by optical flow sensor limits
     // return the scale factor to be applied to navigation velocity gains to compensate for increase in velocity noise with height when using optical flow
     void getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler) const;
@@ -1043,7 +1035,6 @@ private:
                     };
     AidingMode PV_AidingMode;       // Defines the preferred mode for aiding of velocity and position estimates from the INS
     AidingMode PV_AidingModePrev;   // Value of PV_AidingMode from the previous frame - used to detect transitions
-    bool gpsInhibit;                // externally set flag informing the EKF not to use the GPS
     bool gndOffsetValid;            // true when the ground offset state can still be considered valid
     Vector3f delAngBodyOF;          // bias corrected delta angle of the vehicle IMU measured summed across the time since the last OF measurement
     float delTimeOF;                // time that delAngBodyOF is summed across