AP_AHRS: remove not-needed virtual methods from backends

we will call non-virtual methods or add them to the data structure rather than having callbacks
ArduPilot · Dec 6, 2023 · 54f45e4 · 54f45e4
1 parent e5b8c3a
commit 54f45e4
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Showing 4 changed files with 2 additions and 25 deletions.
diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -2390,7 +2390,8 @@ bool AP_AHRS::getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets) const
 
 #if AP_AHRS_SIM_ENABLED
     case EKFType::SIM:
-        return sim.get_mag_offsets(mag_idx, magOffsets);
+        magOffsets.zero();
+        return true;
 #endif
 #if HAL_EXTERNAL_AHRS_ENABLED
     case EKFType::EXTERNAL:

diff --git a/libraries/AP_AHRS/AP_AHRS_Backend.h b/libraries/AP_AHRS/AP_AHRS_Backend.h
@@ -261,19 +261,6 @@ class AP_AHRS_Backend
     #endif
     }
 
-    // returns the estimated magnetic field offsets in body frame
-    virtual bool get_mag_field_correction(Vector3f &ret) const WARN_IF_UNUSED {
-        return false;
-    }
-
-    virtual bool get_mag_field_NED(Vector3f &vec) const {
-        return false;
-    }
-
-    virtual bool get_mag_offsets(uint8_t mag_idx, Vector3f &magOffsets) const {
-        return false;
-    }
-
     //
     virtual bool set_origin(const Location &loc) {
         return false;

diff --git a/libraries/AP_AHRS/AP_AHRS_SIM.cpp b/libraries/AP_AHRS/AP_AHRS_SIM.cpp
@@ -98,13 +98,6 @@ bool AP_AHRS_SIM::get_filter_status(nav_filter_status &status) const
     return true;
 }
 
-bool AP_AHRS_SIM::get_mag_offsets(uint8_t mag_idx, Vector3f &magOffsets) const
-{
-    magOffsets.zero();
-
-    return true;
-}
-
 void AP_AHRS_SIM::send_ekf_status_report(GCS_MAVLINK &link) const
 {
 #if HAL_GCS_ENABLED

diff --git a/libraries/AP_AHRS/AP_AHRS_SIM.h b/libraries/AP_AHRS/AP_AHRS_SIM.h
@@ -77,10 +77,6 @@ class AP_AHRS_SIM : public AP_AHRS_Backend {
     // get_filter_status - returns filter status as a series of flags
     bool get_filter_status(nav_filter_status &status) const override;
 
-    // get compass offset estimates
-    // true if offsets are valid
-    bool get_mag_offsets(uint8_t mag_idx, Vector3f &magOffsets) const override;
-
     void send_ekf_status_report(class GCS_MAVLINK &link) const override;
 
     bool get_innovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov, float &yawInnov) const override;