From a6670c6d4f333f82d221961a34a3d25e1864698f Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Mon, 2 Mar 2015 22:18:14 +0100
Subject: [PATCH] [ins] remove ins_periodic

---
 sw/airborne/firmwares/fixedwing/main_ap.c | 5 ++++-
 sw/airborne/modules/ins/ins_xsens.c       | 5 -----
 sw/airborne/modules/ins/ins_xsens700.c    | 5 -----
 sw/airborne/subsystems/ins.c              | 2 --
 sw/airborne/subsystems/ins.h              | 5 -----
 5 files changed, 4 insertions(+), 18 deletions(-)

diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index 8b7381e5f8..238e3e8542 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -634,7 +634,10 @@ void sensors_task(void)
   gps_periodic_check();
 #endif
 
-  ins_periodic();
+  //FIXME: temporary hack, remove me
+#if USE_INS_MODULE
+  xsens_periodic();
+#endif
 }
 
 
diff --git a/sw/airborne/modules/ins/ins_xsens.c b/sw/airborne/modules/ins/ins_xsens.c
index e0c48687d6..242a7c9dba 100644
--- a/sw/airborne/modules/ins/ins_xsens.c
+++ b/sw/airborne/modules/ins/ins_xsens.c
@@ -256,11 +256,6 @@ void ins_init(void)
   xsens_init();
 }
 
-void ins_periodic(void)
-{
-  xsens_periodic();
-}
-
 void ins_update_gps(void)
 {
   struct UtmCoor_f utm;
diff --git a/sw/airborne/modules/ins/ins_xsens700.c b/sw/airborne/modules/ins/ins_xsens700.c
index ffe462ded9..4f084b59b6 100644
--- a/sw/airborne/modules/ins/ins_xsens700.c
+++ b/sw/airborne/modules/ins/ins_xsens700.c
@@ -188,11 +188,6 @@ void ins_init(void)
   xsens_init();
 }
 
-void ins_periodic(void)
-{
-  xsens_periodic();
-}
-
 void ins_update_gps(void)
 {
   struct UtmCoor_f utm;
diff --git a/sw/airborne/subsystems/ins.c b/sw/airborne/subsystems/ins.c
index d12f0b3c4d..8091adebf9 100644
--- a/sw/airborne/subsystems/ins.c
+++ b/sw/airborne/subsystems/ins.c
@@ -38,7 +38,6 @@ struct Ins ins;
 
 // weak functions, used if not explicitly provided by implementation
 
-void WEAK ins_periodic(void) {}
 
 void WEAK ins_reset_local_origin(void)
 {
@@ -83,7 +82,6 @@ void WEAK ins_reset_utm_zone(struct UtmCoor_f *utm)
 void WEAK ins_reset_utm_zone(struct UtmCoor_f *utm __attribute__((unused))) {}
 #endif
 
-void WEAK ins_propagate(float dt __attribute__((unused))) {}
 
 void WEAK ins_update_gps(void) {}
 
diff --git a/sw/airborne/subsystems/ins.h b/sw/airborne/subsystems/ins.h
index fa42c8f3ca..65b37c0df5 100644
--- a/sw/airborne/subsystems/ins.h
+++ b/sw/airborne/subsystems/ins.h
@@ -49,11 +49,6 @@ extern struct Ins ins;
  */
 extern void ins_init(void);
 
-/** INS periodic call.
- *  Does nothing if not implemented by specific INS algorithm.
- */
-extern void ins_periodic(void);
-
 /** INS local origin reset.
  *  Reset horizontal and vertical reference to the current position.
  *  Does nothing if not implemented by specific INS algorithm.