navigator: remove checkIfBelowHomeAltitude

src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp

@@ -58,7 +58,6 @@ void FeasibilityChecker::reset()
 	_land_pattern_validity_failed = false;
 	_distance_first_waypoint_failed = false;
 	_distance_between_waypoints_failed = false;
-	_below_home_alt_failed = false;
 	_fixed_wing_land_approach_failed = false;
 	_takeoff_land_available_failed = false;
 
@@ -199,10 +198,6 @@ void FeasibilityChecker::doCommonChecks(mission_item_s &mission_item, const int
 		_distance_first_waypoint_failed = !checkHorizontalDistanceToFirstWaypoint(mission_item);
 	}
 
-	if (!_below_home_alt_failed) {
-		_below_home_alt_failed = !checkIfBelowHomeAltitude(mission_item, current_index);
-	}
-
 	if (!_takeoff_failed) {
 		_takeoff_failed = !checkTakeoff(mission_item);
 	}
@@ -682,21 +677,6 @@ bool FeasibilityChecker::checkDistancesBetweenWaypoints(const mission_item_s &mi
 	return true;
 }
 
-bool FeasibilityChecker::checkIfBelowHomeAltitude(const mission_item_s &mission_item, const int current_index)
-{
-	/* calculate the global waypoint altitude */
-	float wp_alt = (mission_item.altitude_is_relative) ? mission_item.altitude + _home_alt_msl : mission_item.altitude;
-
-	if (PX4_ISFINITE(_home_alt_msl) && _home_alt_msl > wp_alt && MissionBlock::item_contains_position(mission_item)) {
-
-		mavlink_log_critical(_mavlink_log_pub, "Warning: Waypoint %d below home\t", current_index + 1);
-		events::send<int16_t>(events::ID("navigator_mis_wp_below_home"), {events::Log::Warning, events::LogInternal::Info},
-				      "Waypoint {1} below home", current_index + 1);
-	}
-
-	return true;
-}
-
 bool FeasibilityChecker::checkItemsFitToVehicleType(const mission_item_s &mission_item)
 {
 	if (_vehicle_type != VehicleType::Vtol &&

src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp

@@ -81,7 +81,6 @@ public:
 		       _distance_between_waypoints_failed ||
 		       _land_pattern_validity_failed ||
 		       _fixed_wing_land_approach_failed ||
-		       _below_home_alt_failed ||
 		       _mission_validity_failed ||
 		       _takeoff_land_available_failed;
 	}
@@ -117,7 +116,6 @@ private:
 	bool _land_pattern_validity_failed{false};
 	bool _distance_first_waypoint_failed{false};
 	bool _distance_between_waypoints_failed{false};
-	bool _below_home_alt_failed{false};
 	bool _fixed_wing_land_approach_failed{false};
 	bool _takeoff_land_available_failed{false};
 	bool _items_fit_to_vehicle_type_failed{false};
@@ -198,15 +196,6 @@ private:
 	*/
 	bool checkDistancesBetweenWaypoints(const mission_item_s &mission_item);
 
-	/**
-	 * @brief Check if any waypoint is below the home altitude. Issues warning only.
-	 *
-	 * @param mission_item The current mission item
-	 * @param current_index The current mission index
-	 * @return Always returns true, only issues warning.
-	*/
-	bool checkIfBelowHomeAltitude(const mission_item_s &mission_item, const int current_index);
-
 	/**
 	 * @brief Check fixed wing land approach (fixed wing only)
 	 *