From 2f71a40fc2d6d3e31bc9bc87d4ba1ff99df6b069 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 9 Apr 2024 17:41:12 +1000
Subject: [PATCH] ArduCopter: remove far_from_EKF_origin sanity checks

some  flawed implementations, and the extreme-ardupilot project means these checks are no longer required
---
 ArduCopter/AP_Arming.cpp | 12 ------------
 ArduCopter/Copter.h      |  1 -
 ArduCopter/commands.cpp  | 21 ---------------------
 3 files changed, 34 deletions(-)

diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
index cfc5ebc2d351f8..4fbfe125ccd302 100644
--- a/ArduCopter/AP_Arming.cpp
+++ b/ArduCopter/AP_Arming.cpp
@@ -495,18 +495,6 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
         }
     }
 
-    // check if home is too far from EKF origin
-    if (copter.far_from_EKF_origin(ahrs.get_home())) {
-        check_failed(display_failure, "Home too far from EKF origin");
-        return false;
-    }
-
-    // check if vehicle is too far from EKF origin
-    if (copter.far_from_EKF_origin(copter.current_loc)) {
-        check_failed(display_failure, "Vehicle too far from EKF origin");
-        return false;
-    }
-
     // if we got here all must be ok
     return true;
 }
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index e0e891432efee6..3285f267976e5c 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -741,7 +741,6 @@ class Copter : public AP_Vehicle {
     void set_home_to_current_location_inflight();
     bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
     bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
-    bool far_from_EKF_origin(const Location& loc);
 
     // compassmot.cpp
     MAV_RESULT mavlink_compassmot(const GCS_MAVLINK &gcs_chan);
diff --git a/ArduCopter/commands.cpp b/ArduCopter/commands.cpp
index e5c2f152d03b10..fea41d19e55636 100644
--- a/ArduCopter/commands.cpp
+++ b/ArduCopter/commands.cpp
@@ -63,11 +63,6 @@ bool Copter::set_home(const Location& loc, bool lock)
         return false;
     }
 
-    // check home is close to EKF origin
-    if (far_from_EKF_origin(loc)) {
-        return false;
-    }
-
     // set ahrs home (used for RTL)
     if (!ahrs.set_home(loc)) {
         return false;
@@ -81,19 +76,3 @@ bool Copter::set_home(const Location& loc, bool lock)
     // return success
     return true;
 }
-
-// far_from_EKF_origin - checks if a location is too far from the EKF origin
-//  returns true if too far
-bool Copter::far_from_EKF_origin(const Location& loc)
-{
-    // check distance to EKF origin
-    Location ekf_origin;
-    if (ahrs.get_origin(ekf_origin)) {
-        if (labs(ekf_origin.alt - loc.alt)*0.01 > EKF_ORIGIN_MAX_ALT_KM*1000.0) {
-            return true;
-        }
-    }
-
-    // close enough to origin
-    return false;
-}