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AP_GPS: Remove GPS_TC_BLEND #25438

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merged 1 commit into from
Nov 2, 2023
Merged

AP_GPS: Remove GPS_TC_BLEND #25438

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7 changes: 1 addition & 6 deletions libraries/AP_GPS/AP_GPS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -343,7 +343,7 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
// @Units: s
// @Range: 5.0 30.0
// @User: Advanced
AP_GROUPINFO("_BLEND_TC", 21, AP_GPS, _blend_tc, 10.0f),
// Had key 21, no longer used
#endif

// @Param: _DRV_OPTIONS
Expand Down Expand Up @@ -485,11 +485,6 @@ void AP_GPS::init(const AP_SerialManager& serial_manager)
}
_last_instance_swap_ms = 0;

#if defined(GPS_BLENDED_INSTANCE)
// Initialise class variables used to do GPS blending
_omega_lpf = 1.0f / constrain_float(_blend_tc, 5.0f, 30.0f);
#endif

// prep the state instance fields
for (uint8_t i = 0; i < GPS_MAX_INSTANCES; i++) {
state[i].instance = i;
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2 changes: 0 additions & 2 deletions libraries/AP_GPS/AP_GPS.h
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Expand Up @@ -605,7 +605,6 @@ class AP_GPS
AP_Int16 _delay_ms[GPS_MAX_RECEIVERS];
AP_Int8 _com_port[GPS_MAX_RECEIVERS];
AP_Int8 _blend_mask;
AP_Float _blend_tc;
AP_Int16 _driver_options;
AP_Int8 _primary;
#if HAL_ENABLE_DRONECAN_DRIVERS
Expand Down Expand Up @@ -739,7 +738,6 @@ class AP_GPS
Vector3f _blended_antenna_offset; // blended antenna offset
float _blended_lag_sec; // blended receiver lag in seconds
float _blend_weights[GPS_MAX_RECEIVERS]; // blend weight for each GPS. The blend weights must sum to 1.0 across all instances.
float _omega_lpf; // cutoff frequency in rad/sec of LPF applied to position offsets
bool _output_is_blended; // true when a blended GPS solution being output
uint8_t _blend_health_counter; // 0 = perfectly health, 100 = very unhealthy

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