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Remove legacy imu interface

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This commit is contained in:
kamilritz
2020-01-23 09:34:07 +11:00
committed by Paul Riseborough
parent 7c3a2f839b
commit 37201fb071
4 changed files with 2 additions and 19 deletions
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EKF/estimator_interface.cpp
-13
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@@ -123,21 +123,8 @@ bool EstimatorInterface::checkIfVehicleAtRest(float dt)
}
}
void EstimatorInterface::setIMUData(uint64_t time_usec, uint64_t delta_ang_dt, uint64_t delta_vel_dt,
float (&delta_ang)[3], float (&delta_vel)[3])
{
imuSample imu_sample_new;
imu_sample_new.delta_ang = Vector3f(delta_ang);
imu_sample_new.delta_vel = Vector3f(delta_vel);
void EstimatorInterface::setMagData(const magSample &mag_sample)
imu_sample_new.delta_ang_dt = delta_ang_dt / 1e6f;
imu_sample_new.delta_vel_dt = delta_vel_dt / 1e6f;
imu_sample_new.time_us = time_usec;
setIMUData(imu_sample_new);
}
{
if (!_initialised || _mag_buffer_fail) {
return;