1 files changed, 0 insertions, 42 deletions
diff --git a/src/modules/position_estimator_inav/kalman_filter_inertial.c b/src/modules/position_estimator_inav/kalman_filter_inertial.c
deleted file mode 100644
index 390e1b720..000000000
--- a/src/modules/position_estimator_inav/kalman_filter_inertial.c
+++ /dev/null
@@ -1,42 +0,0 @@
-/*
- * kalman_filter_inertial.c
- *
- *   Copyright (C) 2013 Anton Babushkin. All rights reserved.
- *   Author: 	Anton Babushkin	<rk3dov@gmail.com>
- */
-
-#include "kalman_filter_inertial.h"
-
-void kalman_filter_inertial_predict(float dt, float x[3]) {
-	x[0] += x[1] * dt + x[2] * dt * dt / 2.0f;
-	x[1] += x[2] * dt;
-}
-
-void kalman_filter_inertial2_update(float x[3], float z[2], float k[3][2], bool use[2]) {
-	float y[2];
-	// y = z - H x
-	y[0] = z[0] - x[0];
-	y[1] = z[1] - x[2];
-	// x = x + K * y
-	for (int i = 0; i < 3; i++) {		// Row
-		for (int j = 0; j < 2; j++) {	// Column
-			if (use[j])
-				x[i] += k[i][j] * y[j];
-		}
-	}
-}
-
-void kalman_filter_inertial3_update(float x[3], float z[3], float k[3][3], bool use[3]) {
-	float y[2];
-	// y = z - H x
-	y[0] = z[0] - x[0];
-	y[1] = z[1] - x[1];
-	y[2] = z[2] - x[2];
-	// x = x + K * y
-	for (int i = 0; i < 3; i++) {		// Row
-		for (int j = 0; j < 3; j++) {	// Column
-			if (use[j])
-				x[i] += k[i][j] * y[j];
-		}
-	}
-}