InertialNav: remove baro glitch protection

libraries/AP_InertialNav/AP_InertialNav.cpp

@@ -390,17 +390,6 @@ void AP_InertialNav::correct_with_baro(float baro_alt, float dt)
         first_reads++;
     }
 
-    // sanity check the baro position.  Relies on the main code calling Baro_Glitch::check_alt() immediatley after a baro update
-    if (_baro_glitch.glitching()) {
-        // failed sanity check so degrate position_error to 10% over 2 seconds (assumes 10hz update rate)
-        _position_error.z *= 0.89715f;
-    }else{
-        // if our internal baro glitching flag (from previous iteration) is true we have just recovered from a glitch
-        // reset the inertial nav alt to baro alt
-        if (_flags.baro_glitching) {
-            set_altitude(baro_alt);
-            _position_error.z = 0.0f;
-        }else{
     // 3rd order samples (i.e. position from baro) are delayed by 150ms (15 iterations at 100hz)
     // so we should calculate error using historical estimates
     float hist_position_base_z;
@@ -413,11 +402,6 @@ void AP_InertialNav::correct_with_baro(float baro_alt, float dt)
     // calculate error in position from baro with our estimate
     _position_error.z = baro_alt - (hist_position_base_z + _position_correction.z);
 }
-    }
-
-    // update our internal record of glitching flag so that we can notice a change
-    _flags.baro_glitching = _baro_glitch.glitching();
-}
 
 // set_altitude - set base altitude estimate in cm
 void AP_InertialNav::set_altitude( float new_altitude)

libraries/AP_InertialNav/AP_InertialNav.h

@@ -8,7 +8,6 @@
 #include <AP_Baro.h>                    // ArduPilot Mega Barometer Library
 #include <AP_Buffer.h>                  // FIFO buffer library
 #include <AP_GPS_Glitch.h>              // GPS Glitch detection library
-#include <AP_Baro_Glitch.h>             // Baro Glitch detection library
 #include "../AP_NavEKF/AP_Nav_Common.h" // definitions shared by inertial and ekf nav filters
 
 #define AP_INTERTIALNAV_TC_XY   2.5f // default time constant for complementary filter's X & Y axis
@@ -39,7 +38,7 @@ class AP_InertialNav
 public:
 
     // Constructor
-    AP_InertialNav(AP_AHRS &ahrs, AP_Baro &baro, GPS_Glitch& gps_glitch, Baro_Glitch &baro_glitch) :
+    AP_InertialNav(AP_AHRS &ahrs, AP_Baro &baro, GPS_Glitch& gps_glitch) :
         _ahrs(ahrs),
         _baro(baro),
         _xy_enabled(false),
@@ -55,7 +54,6 @@ public:
         _k3_z(0.0f),
         _baro_last_update(0),
         _glitch_detector(gps_glitch),
-        _baro_glitch(baro_glitch),
         _error_count(0)
         {
             AP_Param::setup_object_defaults(this, var_info);
@@ -261,7 +259,6 @@ protected:
     // structure for holding flags
     struct InertialNav_flags {
         uint8_t gps_glitching       : 1;                // 1 if glitch detector was previously indicating a gps glitch
-        uint8_t baro_glitching      : 1;                // 1 if baro glitch detector was previously indicating a baro glitch
         uint8_t ignore_error        : 3;                // the number of iterations for which we should ignore errors
     } _flags;
 
@@ -300,7 +297,6 @@ protected:
 
     // error handling
     GPS_Glitch&             _glitch_detector;           // GPS Glitch detector
-    Baro_Glitch&            _baro_glitch;               // Baro glitch detector
     uint8_t                 _error_count;               // number of missed GPS updates
 
     int32_t                 _last_home_lat;

libraries/AP_InertialNav/AP_InertialNav_NavEKF.h

@@ -16,8 +16,8 @@ class AP_InertialNav_NavEKF : public AP_InertialNav
 {
 public:
     // Constructor
-    AP_InertialNav_NavEKF(AP_AHRS_NavEKF &ahrs, AP_Baro &baro, GPS_Glitch& gps_glitch, Baro_Glitch& baro_glitch) :
-        AP_InertialNav(ahrs, baro, gps_glitch, baro_glitch),
+    AP_InertialNav_NavEKF(AP_AHRS_NavEKF &ahrs, AP_Baro &baro, GPS_Glitch& gps_glitch) :
+        AP_InertialNav(ahrs, baro, gps_glitch),
         _haveabspos(false),
         _ahrs_ekf(ahrs)
         {