From 335db007e91722e1dcf95d11cd65f3302e423216 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 9 Apr 2024 17:41:12 +1000
Subject: [PATCH] Blimp: remove far_from_EKF_origin sanity checks

some  flawed implementations, and the extreme-ardupilot project means these checks are no longer required
---
 Blimp/Blimp.h      |  1 -
 Blimp/commands.cpp | 19 -------------------
 2 files changed, 20 deletions(-)

diff --git a/Blimp/Blimp.h b/Blimp/Blimp.h
index ccaa200a1c..086f17f44a 100644
--- a/Blimp/Blimp.h
+++ b/Blimp/Blimp.h
@@ -312,7 +312,6 @@ 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);
 
     // ekf_check.cpp
     void ekf_check();
diff --git a/Blimp/commands.cpp b/Blimp/commands.cpp
index 28942deb39..2185955e24 100644
--- 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;
-}