AttPosEKF: Remove unused code

2 files changed, 0 insertions, 28 deletions

diff --git a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp
index d5995f84d..c313e83af 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp
@@ -2516,27 +2516,6 @@ void AttPosEKF::quat2eul(float (&y)[3], const float (&u)[4])
     y[2] = atan2f((2.0f*(u[1]*u[2]+u[0]*u[3])) , (u[0]*u[0]+u[1]*u[1]-u[2]*u[2]-u[3]*u[3]));
 }
 
-void AttPosEKF::calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD)
-{
-    velNED[0] = gpsGndSpd*cosf(gpsCourse);
-    velNED[1] = gpsGndSpd*sinf(gpsCourse);
-    velNED[2] = gpsVelD;
-}
-
-void AttPosEKF::calcposNED(float (&posNED)[3], double lat, double lon, float hgt, double latReference, double lonReference, float hgtReference)
-{
-    posNED[0] = earthRadius * (lat - latReference);
-    posNED[1] = earthRadius * cos(latReference) * (lon - lonReference);
-    posNED[2] = -(hgt - hgtReference);
-}
-
-void AttPosEKF::calcLLH(float posNED[3], double &lat, double &lon, float &hgt, double latRef, double lonRef, float hgtRef)
-{
-    lat = latRef + (double)posNED[0] * earthRadiusInv;
-    lon = lonRef + (double)posNED[1] * earthRadiusInv / cos(latRef);
-    hgt = hgtRef - posNED[2];
-}
-
 void AttPosEKF::setOnGround(const bool isLanded)
 {
     _onGround = isLanded;
diff --git a/src/modules/ekf_att_pos_estimator/estimator_22states.h b/src/modules/ekf_att_pos_estimator/estimator_22states.h
index 6d3076da7..9b23f4df4 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_22states.h
+++ b/src/modules/ekf_att_pos_estimator/estimator_22states.h
@@ -288,7 +288,6 @@ public:
      * Recall the state vector.
      *
      * Recalls the vector stored at closest time to the one specified by msec
-     *FuseOptFlow
      * @return zero on success, integer indicating the number of invalid states on failure.
      *         Does only copy valid states, if the statesForFusion vector was initialized
      *         correctly by the caller, the result can be safely used, but is a mixture
@@ -307,12 +306,6 @@ public:
 
     static void quat2eul(float (&eul)[3], const float (&quat)[4]);
 
-    static void calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD);
-
-    static void calcposNED(float (&posNED)[3], double lat, double lon, float hgt, double latRef, double lonRef, float hgtRef);
-
-    static void calcLLH(float posNED[3], double &lat, double &lon, float &hgt, double latRef, double lonRef, float hgtRef);
-
     //static void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]);
 
     static inline float sq(float valIn) {return valIn * valIn;}