From 1ca4056b6a294d518ba940d9b94f090a739479db Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Thu, 2 May 2024 14:13:06 -0400
Subject: [PATCH] ekf2: delete unused Ekf::resetImuBias()

---
 src/modules/ekf2/EKF/ekf.h          | 3 ---
 src/modules/ekf2/EKF/ekf_helper.cpp | 6 ------
 2 files changed, 9 deletions(-)

diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h
index 88dd3cb508..b40d067c0d 100644
--- a/src/modules/ekf2/EKF/ekf.h
+++ b/src/modules/ekf2/EKF/ekf.h
@@ -268,9 +268,6 @@ public:
 	// get the vehicle control limits required by the estimator to keep within sensor limitations
 	void get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, float *hagl_max) const;
 
-	// Reset all IMU bias states and covariances to initial alignment values.
-	void resetImuBias();
-
 	void resetGyroBias();
 	void resetGyroBiasCov();
 
diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp
index 1b3a7126b4..63e6dcbdd4 100644
--- a/src/modules/ekf2/EKF/ekf_helper.cpp
+++ b/src/modules/ekf2/EKF/ekf_helper.cpp
@@ -294,12 +294,6 @@ void Ekf::get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, fl
 #endif // CONFIG_EKF2_RANGE_FINDER
 }
 
-void Ekf::resetImuBias()
-{
-	resetGyroBias();
-	resetAccelBias();
-}
-
 void Ekf::resetGyroBias()
 {
 	// Zero the gyro bias states