From f2abe1f5c76ffbad1dab2551a1598b3d7d571cf2 Mon Sep 17 00:00:00 2001
From: Corvus Corax <corvuscorax@cybertrench.com>
Date: Tue, 25 Jun 2013 19:30:21 +0200
Subject: [PATCH] StateEstimation: removed (not yet implemented) 16 state EKF
 support for now

---
 .../modules/StateEstimation/stateestimation.c | 39 -------------------
 shared/uavobjectdefinition/revosettings.xml   |  2 +-
 2 files changed, 1 insertion(+), 40 deletions(-)

diff --git a/flight/modules/StateEstimation/stateestimation.c b/flight/modules/StateEstimation/stateestimation.c
index 6345782e3..5ed371844 100644
--- a/flight/modules/StateEstimation/stateestimation.c
+++ b/flight/modules/StateEstimation/stateestimation.c
@@ -129,8 +129,6 @@ static stateFilter cfFilter;
 static stateFilter cfmFilter;
 static stateFilter ekf13iFilter;
 static stateFilter ekf13Filter;
-static stateFilter ekf16Filter;
-static stateFilter ekf16iFilter;
 
 // preconfigured filter chains selectable via revoSettings.FusionAlgorithm
 static filterPipeline *cfQueue = &(filterPipeline) {
@@ -188,35 +186,6 @@ static const filterPipeline *ekf13Queue = &(filterPipeline) {
         }
     }
 };
-static const filterPipeline *ekf16iQueue = &(filterPipeline) {
-    .filter = &magFilter,
-    .next   = &(filterPipeline) {
-        .filter = &airFilter,
-        .next   = &(filterPipeline) {
-            .filter = &baroFilter,
-            .next   = &(filterPipeline) {
-                .filter = &stationaryFilter,
-                .next   = &(filterPipeline) {
-                    .filter = &ekf16iFilter,
-                    .next   = NULL,
-                }
-            }
-        }
-    }
-};
-static const filterPipeline *ekf16Queue = &(filterPipeline) {
-    .filter = &magFilter,
-    .next   = &(filterPipeline) {
-        .filter = &airFilter,
-        .next   = &(filterPipeline) {
-            .filter = &baroFilter,
-            .next   = &(filterPipeline) {
-                .filter = &ekf16Filter,
-                .next   = NULL,
-            }
-        }
-    }
-};
 
 // Private functions
 
@@ -274,8 +243,6 @@ int32_t StateEstimationInitialize(void)
     stack_required = maxint32_t(stack_required, filterCFMInitialize(&cfmFilter));
     stack_required = maxint32_t(stack_required, filterEKF13iInitialize(&ekf13iFilter));
     stack_required = maxint32_t(stack_required, filterEKF13Initialize(&ekf13Filter));
-    stack_required = maxint32_t(stack_required, filterEKF16Initialize(&ekf16Filter));
-    stack_required = maxint32_t(stack_required, filterEKF16iInitialize(&ekf16iFilter));
 
     stateEstimationCallback = DelayedCallbackCreate(&StateEstimationCb, CALLBACK_PRIORITY, TASK_PRIORITY, stack_required);
 
@@ -353,12 +320,6 @@ static void StateEstimationCb(void)
                 case REVOSETTINGS_FUSIONALGORITHM_INS13OUTDOOR:
                     newFilterChain = ekf13Queue;
                     break;
-                case REVOSETTINGS_FUSIONALGORITHM_INS16INDOOR:
-                    newFilterChain = ekf16iQueue;
-                    break;
-                case REVOSETTINGS_FUSIONALGORITHM_INS16OUTDOOR:
-                    newFilterChain = ekf16Queue;
-                    break;
                 default:
                     newFilterChain = NULL;
                 }
diff --git a/shared/uavobjectdefinition/revosettings.xml b/shared/uavobjectdefinition/revosettings.xml
index e3b19f05f..26e129bdd 100644
--- a/shared/uavobjectdefinition/revosettings.xml
+++ b/shared/uavobjectdefinition/revosettings.xml
@@ -1,7 +1,7 @@
 <xml>
     <object name="RevoSettings" singleinstance="true" settings="true" category="State">
         <description>Settings for the revo to control the algorithm and what is updated</description>
-        <field name="FusionAlgorithm" units="" type="enum" elements="1" options="None,Complementary,Complementary+Mag,INS13Indoor,INS13Outdoor,INS16Indoor,INS16Outdoor" defaultvalue="Complementary"/>
+        <field name="FusionAlgorithm" units="" type="enum" elements="1" options="None,Complementary,Complementary+Mag,INS13Indoor,INS13Outdoor" defaultvalue="Complementary"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>