AP_NavEKF2: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement

libraries/AP_NavEKF2/AP_NavEKF2.cpp

@@ -1,5 +1,4 @@
 #include <AP_HAL/AP_HAL.h>
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
 
 #include "AP_NavEKF2_core.h"
 #include <AP_Vehicle/AP_Vehicle.h>
@@ -1493,4 +1492,3 @@ void NavEKF2::writeExtNavData(const Vector3f &sensOffset, const Vector3f &pos, c
     }
 }
 
-#endif //HAL_CPU_CLASS

libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp

@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -439,5 +437,3 @@ void NavEKF2_core::FuseSideslip()
 *                   MISC FUNCTIONS                      *
 ********************************************************/
 
-
-#endif // HAL_CPU_CLASS

libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp

@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -518,4 +516,3 @@ void  NavEKF2_core::updateFilterStatus(void)
     filterStatus.flags.gps_quality_good = gpsGoodToAlign;
 }
 
-#endif // HAL_CPU_CLASS

libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp

@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -1167,5 +1165,3 @@ void NavEKF2_core::recordMagReset()
     yawInnovAtLastMagReset = innovYaw;
 }
 
-
-#endif // HAL_CPU_CLASS

libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp

@@ -1,6 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
 #include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -857,4 +856,3 @@ void NavEKF2_core::writeExtNavData(const Vector3f &sensOffset, const Vector3f &p
 
 }
 
-#endif // HAL_CPU_CLASS

libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp

@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -714,4 +712,3 @@ void NavEKF2_core::FuseOptFlow()
 *                   MISC FUNCTIONS                      *
 ********************************************************/
 
-#endif // HAL_CPU_CLASS

libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp

@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -617,4 +615,3 @@ void NavEKF2_core::getOutputTrackingError(Vector3f &error) const
     error = outputTrackError;
 }
 
-#endif // HAL_CPU_CLASS

libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp

@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -948,4 +946,3 @@ void NavEKF2_core::selectHeightForFusion()
     }
 }
 
-#endif // HAL_CPU_CLASS

libraries/AP_NavEKF2/AP_NavEKF2_RngBcnFusion.cpp

@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -581,4 +579,3 @@ void NavEKF2_core::CalcRangeBeaconPosDownOffset(float obsVar, Vector3f &vehicleP
 
 }
 
-#endif // HAL_CPU_CLASS

libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp

@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -470,5 +468,3 @@ void NavEKF2_core::detectOptFlowTakeoff(void)
     }
 }
 
-
-#endif // HAL_CPU_CLASS

libraries/AP_NavEKF2/AP_NavEKF2_core.cpp

@@ -1,7 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-
 #include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
 #include <AP_AHRS/AP_AHRS.h>
@@ -1577,4 +1575,3 @@ void NavEKF2_core::zeroAttCovOnly()
     }
 }
 
-#endif // HAL_CPU_CLASS

libraries/AP_NavEKF2/AP_NavEKF_GyroBias.cpp

@@ -1,6 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
 
 #include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
@@ -33,5 +32,3 @@ float NavEKF2_core::InitialGyroBiasUncertainty(void) const
     return 2.5f;
 }
 
-
-#endif // HAL_CPU_CLASS