diff --git a/src/drivers/adis16448/adis16448.cpp b/src/drivers/adis16448/adis16448.cpp index 79a99b774c..bfa9ac8314 100644 --- a/src/drivers/adis16448/adis16448.cpp +++ b/src/drivers/adis16448/adis16448.cpp @@ -1200,13 +1200,6 @@ ADIS16448::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) case GYROIOCGLOWPASS: return _gyro_filter_x.get_cutoff_freq(); - case GYROIOCSLOWPASS: - _gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg); - _gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg); - _gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg); - - return OK; - case GYROIOCSSCALE: /* copy scale in */ memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale)); diff --git a/src/drivers/bmi055/bmi055_gyro.cpp b/src/drivers/bmi055/bmi055_gyro.cpp index e27e798e56..6ecd22b7e7 100644 --- a/src/drivers/bmi055/bmi055_gyro.cpp +++ b/src/drivers/bmi055/bmi055_gyro.cpp @@ -447,13 +447,6 @@ BMI055_gyro::ioctl(struct file *filp, int cmd, unsigned long arg) case GYROIOCGLOWPASS: return _gyro_filter_x.get_cutoff_freq(); - case GYROIOCSLOWPASS: - // set software filtering - _gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg); - _gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg); - _gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg); - return OK; - case GYROIOCSSCALE: /* copy scale in */ memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale)); diff --git a/src/drivers/bmi160/bmi160.cpp b/src/drivers/bmi160/bmi160.cpp index 7f9ce9621b..120ec250e7 100644 --- a/src/drivers/bmi160/bmi160.cpp +++ b/src/drivers/bmi160/bmi160.cpp @@ -798,13 +798,6 @@ BMI160::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) case GYROIOCGLOWPASS: return _gyro_filter_x.get_cutoff_freq(); - case GYROIOCSLOWPASS: - // set software filtering - _gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg); - _gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg); - _gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg); - return OK; - case GYROIOCSSCALE: /* copy scale in */ memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale)); diff --git a/src/drivers/drv_gyro.h b/src/drivers/drv_gyro.h index de1951294b..ad7bd72490 100644 --- a/src/drivers/drv_gyro.h +++ b/src/drivers/drv_gyro.h @@ -79,9 +79,6 @@ struct gyro_calibration_s { /** return the gyro internal sample rate in Hz */ #define GYROIOCGSAMPLERATE _GYROIOC(1) -/** set the gyro internal lowpass filter to no lower than (arg) Hz */ -#define GYROIOCSLOWPASS _GYROIOC(2) - /** set the gyro internal lowpass filter to no lower than (arg) Hz */ #define GYROIOCGLOWPASS _GYROIOC(3) diff --git a/src/drivers/fxas21002c/fxas21002c.cpp b/src/drivers/fxas21002c/fxas21002c.cpp index 4bd0f54b98..a7c79886dc 100644 --- a/src/drivers/fxas21002c/fxas21002c.cpp +++ b/src/drivers/fxas21002c/fxas21002c.cpp @@ -723,14 +723,6 @@ FXAS21002C::ioctl(struct file *filp, int cmd, unsigned long arg) case GYROIOCGSAMPLERATE: return _current_rate; - case GYROIOCSLOWPASS: { - float cutoff_freq_hz = arg; - float sample_rate = 1.0e6f / _call_interval; - set_driver_lowpass_filter(sample_rate, cutoff_freq_hz); - - return OK; - } - case GYROIOCGLOWPASS: return static_cast(_gyro_filter_x.get_cutoff_freq()); diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index 371affa2a9..0e30c9f22d 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -670,14 +670,6 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg) case GYROIOCGSAMPLERATE: return _current_rate; - case GYROIOCSLOWPASS: { - float cutoff_freq_hz = arg; - float sample_rate = 1.0e6f / _call_interval; - set_driver_lowpass_filter(sample_rate, cutoff_freq_hz); - - return OK; - } - case GYROIOCGLOWPASS: return static_cast(_gyro_filter_x.get_cutoff_freq()); diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index 962c19df21..9c08b1ff1f 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -1563,14 +1563,6 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) case GYROIOCGLOWPASS: return _gyro_filter_x.get_cutoff_freq(); - case GYROIOCSLOWPASS: - // set hardware filtering - _set_dlpf_filter(arg); - _gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg); - _gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg); - _gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg); - return OK; - case GYROIOCSSCALE: /* copy scale in */ memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale)); diff --git a/src/drivers/mpu9250/mpu9250.cpp b/src/drivers/mpu9250/mpu9250.cpp index fbbaa4c151..770d05d345 100644 --- a/src/drivers/mpu9250/mpu9250.cpp +++ b/src/drivers/mpu9250/mpu9250.cpp @@ -974,13 +974,6 @@ MPU9250::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) case GYROIOCGLOWPASS: return _gyro_filter_x.get_cutoff_freq(); - case GYROIOCSLOWPASS: - // set software filtering - _gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg); - _gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg); - _gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg); - return OK; - case GYROIOCSSCALE: /* copy scale in */ memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale)); diff --git a/src/platforms/posix/drivers/gyrosim/gyrosim.cpp b/src/platforms/posix/drivers/gyrosim/gyrosim.cpp index 5383e0d7ee..099346f8f7 100644 --- a/src/platforms/posix/drivers/gyrosim/gyrosim.cpp +++ b/src/platforms/posix/drivers/gyrosim/gyrosim.cpp @@ -864,9 +864,6 @@ GYROSIM::gyro_ioctl(unsigned long cmd, unsigned long arg) _set_sample_rate(arg); return OK; - case GYROIOCSLOWPASS: - return OK; - case GYROIOCSSCALE: /* copy scale in */ memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));