[ins] remove ins_periodic

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
 }
 
 

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;

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;

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) {}
 

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.