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ArduCopter: remove far_from_EKF_origin sanity checks 

some  flawed implementations, and the extreme-ardupilot project means these checks are no longer required
This commit is contained in:
Peter Barker 2024-04-09 17:41:12 +10:00 committed by Andrew Tridgell
parent daf6bca778
commit 0c2636c191
3 changed files with 0 additions and 34 deletions
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12
ArduCopter/AP_Arming.cpp
View File

@ -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;
}

1
ArduCopter/Copter.h
View File

@ -741,7 +741,6 @@ private:
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);

21
ArduCopter/commands.cpp
View File

@ -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;
}