ArduSub: remove far_from_EKF_origin sanity checks

some flawed implementations, and the extreme-ardupilot project means these checks are no longer required
ArduPilot · Apr 9, 2024 · 6b90dc5 · 6b90dc5
1 parent 2f71a40
commit 6b90dc5
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Showing 3 changed files with 2 additions and 14 deletions.
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
@@ -425,7 +425,6 @@ class Sub : 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);
     float get_alt_rel() const WARN_IF_UNUSED;
     float get_alt_msl() const WARN_IF_UNUSED;
     void exit_mission();

diff --git a/ArduSub/commands.cpp b/ArduSub/commands.cpp
@@ -73,12 +73,3 @@ bool Sub::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 Sub::far_from_EKF_origin(const Location& loc)
-{
-    // check distance to EKF origin
-    Location ekf_origin;
-    return ahrs.get_origin(ekf_origin) && (ekf_origin.get_distance(loc) > EKF_ORIGIN_MAX_DIST_M);
-}
diff --git a/ArduSub/commands_logic.cpp b/ArduSub/commands_logic.cpp
@@ -679,10 +679,8 @@ void Sub::do_set_home(const AP_Mission::Mission_Command& cmd)
             // silently ignore this failure
         }
     } else {
-        if (!far_from_EKF_origin(cmd.content.location)) {
-            if (!set_home(cmd.content.location, false)) {
-                // silently ignore this failure
-            }
+        if (!set_home(cmd.content.location, false)) {
+            // silently ignore this failure
         }
     }
 }