From 83298110c1dcb37a734d0140b7067ad7dd267e26 Mon Sep 17 00:00:00 2001
From: Johan Jansen <jnsn.johan@gmail.com>
Date: Thu, 5 Feb 2015 13:20:10 +0100
Subject: AttPosEKF: Disable unused function

---
 src/modules/ekf_att_pos_estimator/estimator_22states.cpp | 6 ++++--
 src/modules/ekf_att_pos_estimator/estimator_22states.h   | 4 ++--
 2 files changed, 6 insertions(+), 4 deletions(-)

(limited to 'src')

diff --git a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp
index adf6961ef..4e4ef3b92 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp
@@ -6,10 +6,10 @@
 #include <algorithm>
 
 #ifndef M_PI_F
-#define M_PI_F ((float)M_PI)
+#define M_PI_F static_cast<float>(M_PI)
 #endif
 
-#define EKF_COVARIANCE_DIVERGED 1.0e8f
+constexpr float EKF_COVARIANCE_DIVERGED = 1.0e8f;
 
 AttPosEKF::AttPosEKF() :
     covTimeStepMax(0.0f),
@@ -2401,6 +2401,7 @@ void AttPosEKF::RecallOmega(float* omegaForFusion, uint64_t msec)
     }
 }
 
+#if 0
 void AttPosEKF::quat2Tnb(Mat3f &Tnb, const float (&quat)[4])
 {
     // Calculate the nav to body cosine matrix
@@ -2425,6 +2426,7 @@ void AttPosEKF::quat2Tnb(Mat3f &Tnb, const float (&quat)[4])
     Tnb.x.z = 2*(q13 - q02);
     Tnb.y.z = 2*(q23 + q01);
 }
+#endif
 
 void AttPosEKF::quat2Tbn(Mat3f &Tbn_ret, const float (&quat)[4])
 {
diff --git a/src/modules/ekf_att_pos_estimator/estimator_22states.h b/src/modules/ekf_att_pos_estimator/estimator_22states.h
index de21a75ca..898105db4 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_22states.h
+++ b/src/modules/ekf_att_pos_estimator/estimator_22states.h
@@ -218,7 +218,7 @@ public:
 
     void updateDtHgtFilt(float dt);
 
-    void  UpdateStrapdownEquationsNED();
+    void UpdateStrapdownEquationsNED();
 
     void CovariancePrediction(float dt);
 
@@ -272,7 +272,7 @@ public:
 
     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 void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]);
 
     static inline float sq(float valIn) {return valIn * valIn;}
 
-- 
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