Sub: remove redundant home-setting sanity checks

James-T1 · Feb 14, 2019 · db362ea · db362ea
1 parent 13db459
commit db362ea
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Showing 2 changed files with 0 additions and 13 deletions.
diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
@@ -681,10 +681,6 @@ MAV_RESULT GCS_MAVLINK_Sub::handle_command_long_packet(const mavlink_command_lon
             if (!is_zero(packet.param1)) {
                 return MAV_RESULT_FAILED;
             }
-            // sanity check location
-            if (!check_latlng(packet.param5, packet.param6)) {
-                return MAV_RESULT_FAILED;
-            }
             Location new_home_loc;
             new_home_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
             new_home_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
@@ -949,10 +945,6 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
                 // ignore this failure
             }
         } else {
-            // sanity check location
-            if (!check_latlng(packet.latitude, packet.longitude)) {
-                break;
-            }
             Location new_home_loc;
             new_home_loc.lat = packet.latitude;
             new_home_loc.lng = packet.longitude;

diff --git a/ArduSub/commands.cpp b/ArduSub/commands.cpp
@@ -55,11 +55,6 @@ bool Sub::set_home_to_current_location(bool lock)
 //  returns true if home location set successfully
 bool Sub::set_home(const Location& loc, bool lock)
 {
-    // check location is valid
-    if (loc.lat == 0 && loc.lng == 0) {
-        return false;
-    }
-
     // check if EKF origin has been set
     Location ekf_origin;
     if (!ahrs.get_origin(ekf_origin)) {