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AP_AHRS: remove groundspeed method from AHRS backend #31835

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Merged
peterbarker merged 1 commit into from
Jan 21, 2026
Merged

AP_AHRS: remove groundspeed method from AHRS backend #31835

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22 changes: 0 additions & 22 deletions libraries/AP_AHRS/AP_AHRS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1420,28 +1420,6 @@ Vector2f AP_AHRS::_groundspeed_vector(void)

float AP_AHRS::_groundspeed(void)
{
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
return dcm.groundspeed();
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
#endif

#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
#endif
break;
}
return groundspeed_vector().length();
}

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5 changes: 0 additions & 5 deletions libraries/AP_AHRS/AP_AHRS_Backend.h
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Original file line number Diff line number Diff line change
Expand Up @@ -206,11 +206,6 @@ class AP_AHRS_Backend
return false;
}

// return ground speed estimate in meters/second. Used by ground vehicles.
float groundspeed(void) {
return groundspeed_vector().length();
}

// return true if we will use compass for yaw
virtual bool use_compass(void) = 0;

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