From 355476d6b7af4a7698558dc709b1c5f621430e64 Mon Sep 17 00:00:00 2001
From: Ryan Pavlik <ryan.pavlik@collabora.com>
Date: Mon, 11 Nov 2019 11:46:41 -0600
Subject: [PATCH] aux/tracking: Remove accidentally-left-in parameters from
 t_imu

---
 src/xrt/auxiliary/tracking/t_imu.cpp | 5 -----
 src/xrt/auxiliary/tracking/t_imu.h   | 4 ----
 2 files changed, 9 deletions(-)

diff --git a/src/xrt/auxiliary/tracking/t_imu.cpp b/src/xrt/auxiliary/tracking/t_imu.cpp
index 05c84855e..8a518225b 100644
--- a/src/xrt/auxiliary/tracking/t_imu.cpp
+++ b/src/xrt/auxiliary/tracking/t_imu.cpp
@@ -70,8 +70,6 @@ int
 imu_fusion_incorporate_accelerometer(struct imu_fusion *fusion,
                                      float dt,
                                      struct xrt_vec3 const *accel,
-                                     float scale,
-                                     struct xrt_vec3 const *reference,
                                      struct xrt_vec3 const *variance)
 {
 	try {
@@ -160,8 +158,6 @@ imu_fusion_incorporate_gyros_and_accelerometer(
     struct xrt_vec3 const *ang_vel,
     struct xrt_vec3 const *ang_vel_variance,
     struct xrt_vec3 const *accel,
-    float accel_scale,
-    struct xrt_vec3 const *accel_reference,
     struct xrt_vec3 const *accel_variance)
 {
 	try {
@@ -169,7 +165,6 @@ imu_fusion_incorporate_gyros_and_accelerometer(
 		assert(ang_vel);
 		assert(ang_vel_variance);
 		assert(accel);
-		assert(accel_reference);
 		assert(accel_variance);
 
 		Eigen::Vector3d accelVec = map_vec3(*accel).cast<double>();
diff --git a/src/xrt/auxiliary/tracking/t_imu.h b/src/xrt/auxiliary/tracking/t_imu.h
index ac04820fa..ff10808db 100644
--- a/src/xrt/auxiliary/tracking/t_imu.h
+++ b/src/xrt/auxiliary/tracking/t_imu.h
@@ -75,8 +75,6 @@ int
 imu_fusion_incorporate_accelerometer(struct imu_fusion *fusion,
                                      float dt,
                                      struct xrt_vec3 const *accel,
-                                     float scale,
-                                     struct xrt_vec3 const *reference,
                                      struct xrt_vec3 const *variance);
 
 /*!
@@ -97,8 +95,6 @@ imu_fusion_incorporate_gyros_and_accelerometer(
     struct xrt_vec3 const *ang_vel,
     struct xrt_vec3 const *ang_vel_variance,
     struct xrt_vec3 const *accel,
-    float accel_scale,
-    struct xrt_vec3 const *accel_reference,
     struct xrt_vec3 const *accel_variance);
 
 /*!