From 3e0dcacf58e3fc113df80b486b07b6b15d99098e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 16 May 2018 13:38:39 +1000
Subject: [PATCH] Tracker: handle setting of ekf origin in GCS_MAVLink

---
 AntennaTracker/GCS_Mavlink.cpp |  5 -----
 AntennaTracker/GCS_Mavlink.h   |  1 -
 AntennaTracker/Tracker.h       |  1 -
 AntennaTracker/system.cpp      | 23 -----------------------
 4 files changed, 30 deletions(-)

diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index 7cb0344e64..1f17b2706a 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@@ -768,11 +768,6 @@ const AP_FWVersion &GCS_MAVLINK_Tracker::get_fwver() const
     return tracker.fwver;
 }
 
-void GCS_MAVLINK_Tracker::set_ekf_origin(const Location& loc)
-{
-    tracker.set_ekf_origin(loc);
-}
-
 /* dummy methods to avoid having to link against AP_Camera */
 void AP_Camera::control_msg(mavlink_message_t const*) {}
 void AP_Camera::configure(float, float, float, float, float, float, float) {}
diff --git a/AntennaTracker/GCS_Mavlink.h b/AntennaTracker/GCS_Mavlink.h
index c562eaa947..b0471b1028 100644
--- a/AntennaTracker/GCS_Mavlink.h
+++ b/AntennaTracker/GCS_Mavlink.h
@@ -19,7 +19,6 @@ protected:
     AP_Rally *get_rally() const override { return nullptr; };
     AP_Camera *get_camera() const override { return nullptr; };
     const AP_FWVersion &get_fwver() const override;
-    void set_ekf_origin(const Location& loc) override;
 
     uint8_t sysid_my_gcs() const override;
 
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 5fd34d3704..14e6f52f92 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -235,7 +235,6 @@ private:
     bool get_home_eeprom(struct Location &loc);
     void set_home_eeprom(struct Location temp);
     void set_home(struct Location temp);
-    void set_ekf_origin(const Location& loc);
     void arm_servos();
     void disarm_servos();
     void prepare_servos();
diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp
index 1ea64b7a38..e488e438ec 100644
--- a/AntennaTracker/system.cpp
+++ b/AntennaTracker/system.cpp
@@ -165,29 +165,6 @@ void Tracker::set_home(struct Location temp)
     }
 }
 
-// sets ekf_origin if it has not been set.
-//  should only be used when there is no GPS to provide an absolute position
-void Tracker::set_ekf_origin(const Location& loc)
-{
-    // check location is valid
-    if (!check_latlng(loc)) {
-        return;
-    }
-
-    // check EKF origin has already been set
-    Location ekf_origin;
-    if (ahrs.get_origin(ekf_origin)) {
-        return;
-    }
-
-    if (!ahrs.set_origin(loc)) {
-        return;
-    }
-
-    // send ekf origin to GCS
-    gcs().send_ekf_origin(loc);
-}
-
 void Tracker::arm_servos()
 {
     hal.util->set_soft_armed(true);