AP_NavEKF2: remove combined NED local position interface

libraries/AP_NavEKF2/AP_NavEKF2.cpp

@@ -673,19 +673,6 @@ int8_t NavEKF2::getPrimaryCoreIndex(void) const
     return primary;
 }
 
-
-// Return the last calculated NED position relative to the reference point (m).
-// If a calculated solution is not available, use the best available data and return false
-// If false returned, do not use for flight control
-bool NavEKF2::getPosNED(int8_t instance, Vector3f &pos)
-{
-    if (instance < 0 || instance >= num_cores) instance = primary;
-    if (!core) {
-        return false;
-    }
-    return core[instance].getPosNED(pos);
-}
-
 // Return the last calculated NE position relative to the reference point (m).
 // If a calculated solution is not available, use the best available data and return false
 // If false returned, do not use for flight control

libraries/AP_NavEKF2/AP_NavEKF2.h

@@ -62,12 +62,6 @@ public:
     // return -1 if no primary core selected
     int8_t getPrimaryCoreIndex(void) const;
 
-    // Return the last calculated NED position relative to the reference point (m) for the specified instance.
-    // An out of range instance (eg -1) returns data for the the primary instance
-    // If a calculated solution is not available, use the best available data and return false
-    // If false returned, do not use for flight control
-    bool getPosNED(int8_t instance, Vector3f &pos);
-
     // Return the last calculated NE position relative to the reference point (m) for the specified instance.
     // An out of range instance (eg -1) returns data for the the primary instance
     // If a calculated solution is not available, use the best available data and return false

libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp

@@ -209,46 +209,6 @@ void NavEKF2_core::getAccelZBias(float &zbias) const {
     }
 }
 
-// Return the last calculated NED position relative to the reference point (m).
-// if a calculated solution is not available, use the best available data and return false
-bool NavEKF2_core::getPosNED(Vector3f &pos) const
-{
-    // The EKF always has a height estimate regardless of mode of operation
-    pos.z = outputDataNew.position.z;
-    // There are three modes of operation, absolute position (GPS fusion), relative position (optical flow fusion) and constant position (no position estimate available)
-    nav_filter_status status;
-    getFilterStatus(status);
-    if (PV_AidingMode != AID_NONE) {
-        // This is the normal mode of operation where we can use the EKF position states
-        pos.x = outputDataNew.position.x;
-        pos.y = outputDataNew.position.y;
-        return true;
-    } else {
-        // In constant position mode the EKF position states are at the origin, so we cannot use them as a position estimate
-        if(validOrigin) {
-            if ((_ahrs->get_gps().status() >= AP_GPS::GPS_OK_FIX_2D)) {
-                // If the origin has been set and we have GPS, then return the GPS position relative to the origin
-                const struct Location &gpsloc = _ahrs->get_gps().location();
-                Vector2f tempPosNE = location_diff(EKF_origin, gpsloc);
-                pos.x = tempPosNE.x;
-                pos.y = tempPosNE.y;
-                return false;
-            } else {
-                // If no GPS fix is available, all we can do is provide the last known position
-                pos.x = outputDataNew.position.x;
-                pos.y = outputDataNew.position.y;
-                return false;
-            }
-        } else {
-            // If the origin has not been set, then we have no means of providing a relative position
-            pos.x = 0.0f;
-            pos.y = 0.0f;
-            return false;
-        }
-    }
-    return false;
-}
-
 // Return the last estimated NE position relative to the reference point (m).
 // Return true if the estimate is valid
 bool NavEKF2_core::getPosNE(Vector2f &posNE) const

libraries/AP_NavEKF2/AP_NavEKF2_core.h

@@ -66,11 +66,6 @@ public:
     // Intended to be used by the front-end to determine which is the primary EKF
     float faultScore(void) const;
 
-    // Return the last calculated NED position relative to the reference point (m).
-    // If a calculated solution is not available, use the best available data and return false
-    // If false returned, do not use for flight control
-    bool getPosNED(Vector3f &pos) const;
-
     // Return the last calculated NE position relative to the reference point (m).
     // If a calculated solution is not available, use the best available data and return false
     // If false returned, do not use for flight control