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GCS_MAVLink: remove redundant home validation checks

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Peter Barker 2019-02-13 13:49:43 +11:00 committed by Peter Barker
parent db362eaa13
commit dffc5568fe
1 changed files with 0 additions and 8 deletions
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8
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -3631,10 +3631,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_do_set_home(const mavlink_command_int
if (!is_zero(packet.param1)) { if (!is_zero(packet.param1)) {
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
} }
if ((packet.x == 0) && (packet.y == 0) && is_zero(packet.z)) {
// don't allow the 0,0 position
return MAV_RESULT_FAILED;
}
// check frame type is supported // check frame type is supported
if (packet.frame != MAV_FRAME_GLOBAL && if (packet.frame != MAV_FRAME_GLOBAL &&
packet.frame != MAV_FRAME_GLOBAL_INT && packet.frame != MAV_FRAME_GLOBAL_INT &&
@ -3642,10 +3638,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_do_set_home(const mavlink_command_int
packet.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) { packet.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
return MAV_RESULT_UNSUPPORTED; return MAV_RESULT_UNSUPPORTED;
} }
// sanity check location
if (!check_latlng(packet.x, packet.y)) {
return MAV_RESULT_FAILED;
}
Location new_home_loc {}; Location new_home_loc {};
new_home_loc.lat = packet.x; new_home_loc.lat = packet.x;
new_home_loc.lng = packet.y; new_home_loc.lng = packet.y;