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Remove "far_from_EKF_origin" sanity checks #26727

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merged 3 commits into from
Apr 10, 2024
Merged

Remove "far_from_EKF_origin" sanity checks #26727

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2f71a40
ArduCopter: remove far_from_EKF_origin sanity checks
peterbarker Apr 9, 2024
6b90dc5
ArduSub: remove far_from_EKF_origin sanity checks
peterbarker Apr 9, 2024
8ff846d
Blimp: remove far_from_EKF_origin sanity checks
peterbarker Apr 9, 2024
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12 changes: 0 additions & 12 deletions ArduCopter/AP_Arming.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
}
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1 change: 0 additions & 1 deletion ArduCopter/Copter.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
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21 changes: 0 additions & 21 deletions ArduCopter/commands.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -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;
}
1 change: 0 additions & 1 deletion ArduSub/Sub.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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();
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9 changes: 0 additions & 9 deletions ArduSub/commands.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
}
6 changes: 2 additions & 4 deletions ArduSub/commands_logic.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
}
}
}
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1 change: 0 additions & 1 deletion Blimp/Blimp.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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();
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19 changes: 0 additions & 19 deletions Blimp/commands.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -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;
}
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