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Blimp: 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 3443e1c12f
commit 335db007e9
2 changed files with 0 additions and 20 deletions
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1
Blimp/Blimp.h
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@ -312,7 +312,6 @@ private:
void set_home_to_current_location_inflight(); void set_home_to_current_location_inflight();
bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED; 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 set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
bool far_from_EKF_origin(const Location& loc);
// ekf_check.cpp // ekf_check.cpp
void ekf_check(); void ekf_check();

19
Blimp/commands.cpp
View File

@ -58,11 +58,6 @@ bool Blimp::set_home(const Location& loc, bool lock)
return false; return false;
} }
// check home is close to EKF origin
if (far_from_EKF_origin(loc)) {
return false;
}
// set ahrs home (used for RTL) // set ahrs home (used for RTL)
if (!ahrs.set_home(loc)) { if (!ahrs.set_home(loc)) {
return false; return false;
@ -76,17 +71,3 @@ bool Blimp::set_home(const Location& loc, bool lock)
// return success // return success
return true; 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;
}