Copter: remove unused Ch6 EKF tuning options

ArduCopter/defines.h

@@ -57,9 +57,9 @@ enum tuning_func {
     TUNING_CIRCLE_RATE =                39, // circle turn rate in degrees (hard coded to about 45 degrees in either direction)
     TUNING_ACRO_YAW_KP =                40, // acro controller's P term.  converts pilot input to a desired roll, pitch or yaw rate
     TUNING_RANGEFINDER_GAIN =           41, // rangefinder gain
-    TUNING_EKF_VERTICAL_POS =           42, // EKF's baro vs accel (higher rely on accels more, baro impact is reduced).  Range should be 0.2 ~ 4.0?  2.0 is default
-    TUNING_EKF_HORIZONTAL_POS =         43, // EKF's gps vs accel (higher rely on accels more, gps impact is reduced).  Range should be 1.0 ~ 3.0?  1.5 is default
-    TUNING_EKF_ACCEL_NOISE =            44, // EKF's accel noise (lower means trust accels more, gps & baro less).  Range should be 0.02 ~ 0.5  0.5 is default (but very robust at that level)
+    TUNING_EKF_VERTICAL_POS =           42, // unused
+    TUNING_EKF_HORIZONTAL_POS =         43, // unused
+    TUNING_EKF_ACCEL_NOISE =            44, // unused
     TUNING_RC_FEEL_RP =                 45, // roll-pitch input smoothing
     TUNING_RATE_PITCH_KP =              46, // body frame pitch rate controller's P term
     TUNING_RATE_PITCH_KI =              47, // body frame pitch rate controller's I term

ArduCopter/tuning.cpp

@@ -149,37 +149,6 @@ void Copter::tuning()
         break;
 #endif
 
-#if 0
-        // disabled for now - we need accessor functions
-    case TUNING_EKF_VERTICAL_POS:
-        // Tune the EKF that is being used
-        // EKF's baro vs accel (higher rely on accels more, baro impact is reduced)
-        if (!ahrs.get_NavEKF2().enabled()) {
-            ahrs.get_NavEKF()._gpsVertPosNoise = tuning_value;
-        } else {
-            ahrs.get_NavEKF2()._gpsVertPosNoise = tuning_value;
-        }
-        break;
-
-    case TUNING_EKF_HORIZONTAL_POS:
-        // EKF's gps vs accel (higher rely on accels more, gps impact is reduced)
-        if (!ahrs.get_NavEKF2().enabled()) {
-            ahrs.get_NavEKF()._gpsHorizPosNoise = tuning_value;
-        } else {
-            ahrs.get_NavEKF2()._gpsHorizPosNoise = tuning_value;
-        }
-        break;
-
-    case TUNING_EKF_ACCEL_NOISE:
-        // EKF's accel noise (lower means trust accels more, gps & baro less)
-        if (!ahrs.get_NavEKF2().enabled()) {
-            ahrs.get_NavEKF()._accNoise = tuning_value;
-        } else {
-            ahrs.get_NavEKF2()._accNoise = tuning_value;
-        }
-        break;
-#endif
-
     case TUNING_RC_FEEL_RP:
         attitude_control->set_input_tc(tuning_value);
         break;