AP_InertialSensor: remove dynamic fifo mask

ArduPilot · Dec 19, 2024 · bd4e3a9 · bd4e3a9
1 parent 100dbec
commit bd4e3a9
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Showing 2 changed files with 1 addition and 6 deletions.
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_rate_config.h b/libraries/AP_InertialSensor/AP_InertialSensor_rate_config.h
@@ -7,7 +7,3 @@
 #ifndef AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED
 #define AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED (AP_INERTIALSENSOR_ENABLED && HAL_INS_RATE_LOOP && AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED && APM_BUILD_TYPE(APM_BUILD_ArduCopter))
 #endif
-
-#ifndef AP_INERTIALSENSOR_DYNAMIC_FIFO_MASK
-#define AP_INERTIALSENSOR_DYNAMIC_FIFO_MASK 127
-#endif
diff --git a/libraries/AP_InertialSensor/FastRateBuffer.cpp b/libraries/AP_InertialSensor/FastRateBuffer.cpp
@@ -85,8 +85,7 @@ bool AP_InertialSensor::is_dynamic_fifo_enabled(uint8_t instance) const
     if (!fast_rate_buffer_enabled || fast_rate_buffer == nullptr) {
         return false;
     }
-    return ((1U<<instance) & AP_INERTIALSENSOR_DYNAMIC_FIFO_MASK)
-            && (_fast_sampling_mask & (1U<<instance)) != 0
+    return (_fast_sampling_mask & (1U<<instance)) != 0
             && fast_rate_buffer->use_rate_loop_gyro_samples();
 }