Plane: handle setting of ekf origin in GCS_MAVLink

ArduPlane/GCS_Mavlink.cpp

@@ -1831,8 +1831,3 @@ const AP_FWVersion &GCS_MAVLINK_Plane::get_fwver() const
 {
     return plane.fwver;
 }
-
-void GCS_MAVLINK_Plane::set_ekf_origin(const Location& loc)
-{
-    plane.set_ekf_origin(loc);
-}

ArduPlane/GCS_Mavlink.h

@@ -24,7 +24,6 @@ protected:
     AP_AdvancedFailsafe *get_advanced_failsafe() const override;
     AP_Rally *get_rally() const override;
     const AP_FWVersion &get_fwver() const override;
-    void set_ekf_origin(const Location& loc) override;
 
     uint8_t sysid_my_gcs() const override;
 

ArduPlane/Plane.h

@@ -835,7 +835,6 @@ private:
     void set_guided_WP(void);
     void init_home();
     void update_home();
-    void set_ekf_origin(const Location& loc);
     void do_RTL(int32_t alt);
     bool verify_takeoff();
     bool verify_loiter_unlim();

ArduPlane/commands.cpp

@@ -148,29 +148,3 @@ void Plane::update_home()
     }
     barometer.update_calibration();
 }
-
-// sets ekf_origin if it has not been set.
-//  should only be used when there is no GPS to provide an absolute position
-void Plane::set_ekf_origin(const Location& loc)
-{
-    // check location is valid
-    if (!check_latlng(loc)) {
-        return;
-    }
-
-    // check if EKF origin has already been set
-    Location ekf_origin;
-    if (ahrs.get_origin(ekf_origin)) {
-        return;
-    }
-
-    if (!ahrs.set_origin(loc)) {
-        return;
-    }
-
-    // log ahrs home and ekf origin dataflash
-    ahrs.Log_Write_Home_And_Origin();
-
-    // send ekf origin to GCS
-    gcs().send_ekf_origin(loc);
-}