Move far-from-ekf-origin sanity check up to AP_Vehicle #26724
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…P_Vehicle, use it the Sub and Blimp implementations were buggy and no-longer in-line with Copter's. In particular, several years ago Copter's horizontal distance limit was removed, and the checking of the vertical limit was fixed. The old vertical distance check was wrong, it was in m rather than km, and Sub/Blimp still have that problem before this patch.
…P_Vehicle, use it the Sub and Blimp implementations were buggy and no-longer in-line with Copter's. In particular, several years ago Copter's horizontal distance limit was removed, and the checking of the vertical limit was fixed. The old vertical distance check was wrong, it was in m rather than km, and Sub/Blimp still have that problem before this patch.
…ehicle, use it the Sub and Blimp implementations were buggy and no-longer in-line with Copter's. In particular, several years ago Copter's horizontal distance limit was removed, and the checking of the vertical limit was fixed. The old vertical distance check was wrong, it was in m rather than km, and Sub/Blimp still have that problem before this patch.
…icle, use it the Sub and Blimp implementations were buggy and no-longer in-line with Copter's. In particular, several years ago Copter's horizontal distance limit was removed, and the checking of the vertical limit was fixed. The old vertical distance check was wrong, it was in m rather than km, and Sub/Blimp still have that problem before this patch.
…Vehicle, use it the Sub and Blimp implementations were buggy and no-longer in-line with Copter's. In particular, several years ago Copter's horizontal distance limit was removed, and the checking of the vertical limit was fixed. The old vertical distance check was wrong, it was in m rather than km, and Sub/Blimp still have that problem before this patch.
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I agree that we should just remove the code. I really don't think it's necessary any more now that "extreme ardupilot" is complete. |
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now removed |
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I'm not convinced we still need to do then given our origin-handling changes. My preference would be that we kill this code entirely.
But while we have it we can be consistent with what we mean by far-from-origin across our vehicles.
This PR makes it consistent across Sub, Copter and Blimp.
Sub doesn't actually use this when home is set from mavlink. It does use it when the mission sets a home position, because that's what Copter did in 2017.
Blimp and Copter do use this method when setting home.