Replay: Remove AP_InertialNav

gChuNguyen · Apr 24, 2018 · 9ade6cd · 9ade6cd
1 parent 8119c53
commit 9ade6cd
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Showing 4 changed files with 0 additions and 7 deletions.
diff --git a/Tools/Replay/Replay.cpp b/Tools/Replay/Replay.cpp
@@ -689,9 +689,6 @@ void Replay::read_sensors(const char *type)
 
     if (run_ahrs) {
         _vehicle.ahrs.update();
-        if (_vehicle.ahrs.get_home().lat != 0) {
-            _vehicle.inertial_nav.update(_vehicle.ins.get_delta_time());
-        }
         if ((downsample == 0 || ++output_counter % downsample == 0) && !logmatch) {
             write_ekf_logs();
         }

diff --git a/Tools/Replay/Replay.h b/Tools/Replay/Replay.h
@@ -35,7 +35,6 @@
 #include <AP_Compass/AP_Compass.h>
 #include <AP_Baro/AP_Baro.h>
 #include <AP_InertialSensor/AP_InertialSensor.h>
-#include <AP_InertialNav/AP_InertialNav.h>
 #include <AP_NavEKF2/AP_NavEKF2.h>
 #include <AP_NavEKF3/AP_NavEKF3.h>
 #include <AP_Mission/AP_Mission.h>
@@ -67,7 +66,6 @@ class ReplayVehicle {
     NavEKF2 EKF2{&ahrs, rng};
     NavEKF3 EKF3{&ahrs, rng};
     AP_AHRS_NavEKF ahrs{EKF2, EKF3};
-    AP_InertialNav_NavEKF inertial_nav{ahrs};
     AP_Vehicle::FixedWing aparm;
     AP_Airspeed airspeed;
     AP_Int32 unused; // logging is magic for Replay; this is unused

diff --git a/Tools/Replay/make.inc b/Tools/Replay/make.inc
@@ -17,7 +17,6 @@ LIBRARIES += AP_AHRS
 LIBRARIES += AP_Compass
 LIBRARIES += AP_Baro
 LIBRARIES += AP_InertialSensor
-LIBRARIES += AP_InertialNav
 LIBRARIES += AP_NavEKF2
 LIBRARIES += AP_NavEKF3
 LIBRARIES += AP_Mission

diff --git a/Tools/Replay/wscript b/Tools/Replay/wscript
@@ -13,7 +13,6 @@ def build(bld):
         name=vehicle + '_libs',
         ap_vehicle=vehicle,
         ap_libraries=bld.ap_common_vehicle_libraries() + [
-            'AP_InertialNav',
             'AP_Beacon',
         ],
     )