Blimp: 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 · 8ff846d · 8ff846d
1 parent 6b90dc5
commit 8ff846d
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diff --git a/Blimp/Blimp.h b/Blimp/Blimp.h
@@ -312,7 +312,6 @@ class Blimp : 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);
 
     // ekf_check.cpp
     void ekf_check();

diff --git a/Blimp/commands.cpp b/Blimp/commands.cpp
@@ -58,11 +58,6 @@ bool Blimp::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;
@@ -76,17 +71,3 @@ bool Blimp::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 Blimp::far_from_EKF_origin(const Location& loc)
-{
-    // check distance to EKF origin
-    Location ekf_origin;
-    if (ahrs.get_origin(ekf_origin) && ((ekf_origin.get_distance(loc) > EKF_ORIGIN_MAX_DIST_M) || (labs(ekf_origin.alt - loc.alt) > EKF_ORIGIN_MAX_DIST_M))) {
-        return true;
-    }
-
-    // close enough to origin
-    return false;
-}