ekf2: remove EKF2_HGT_MODE VerifyParams() transition helpers

- in theory these are helpful to ensure EKF2_HGT_MODE configuration is consistent with the relevant aid source (GPS, baro, etc), but it can be a little awkward with users having to fight manual parameter changes in the right order
PX4 · Nov 16, 2023 · 62027b0 · 62027b0
1 parent 3b2d766
commit 62027b0
Showing 1 changed file with 0 additions and 76 deletions.
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
@@ -819,82 +819,6 @@ void EKF2::Run()
 
 void EKF2::VerifyParams()
 {
-#if defined(CONFIG_EKF2_GNSS)
-
-	if ((_param_ekf2_gps_ctrl.get() & GnssCtrl::VPOS) && !(_param_ekf2_gps_ctrl.get() & GnssCtrl::HPOS)) {
-		_param_ekf2_gps_ctrl.set(_param_ekf2_gps_ctrl.get() & ~GnssCtrl::VPOS);
-		_param_ekf2_gps_ctrl.commit();
-		mavlink_log_critical(&_mavlink_log_pub, "GPS lon/lat is required for altitude fusion\n");
-		/* EVENT
-		 * @description <param>EKF2_GPS_CTRL</param> is set to {1:.0}.
-		 */
-		events::send<float>(events::ID("ekf2_gps_ctrl_alt"), events::Log::Warning,
-				    "GPS lon/lat is required for altitude fusion", _param_ekf2_gps_ctrl.get());
-	}
-
-#endif // CONFIG_EKF2_GNSS
-
-#if defined(CONFIG_EKF2_BAROMETER)
-
-	if ((_param_ekf2_hgt_ref.get() == HeightSensor::BARO) && (_param_ekf2_baro_ctrl.get() == 0)) {
-		_param_ekf2_baro_ctrl.set(1);
-		_param_ekf2_baro_ctrl.commit();
-		mavlink_log_critical(&_mavlink_log_pub, "Baro enabled by EKF2_HGT_REF\n");
-		/* EVENT
-		 * @description <param>EKF2_BARO_CTRL</param> is set to {1:.0}.
-		 */
-		events::send<float>(events::ID("ekf2_hgt_ref_baro"), events::Log::Warning,
-				    "Baro enabled by EKF2_HGT_REF", _param_ekf2_baro_ctrl.get());
-	}
-
-#endif // CONFIG_EKF2_BAROMETER
-
-#if defined(CONFIG_EKF2_RANGE_FINDER)
-
-	if ((_param_ekf2_hgt_ref.get() == HeightSensor::RANGE) && (_param_ekf2_rng_ctrl.get() == RngCtrl::DISABLED)) {
-		_param_ekf2_rng_ctrl.set(1);
-		_param_ekf2_rng_ctrl.commit();
-		mavlink_log_critical(&_mavlink_log_pub, "Range enabled by EKF2_HGT_REF\n");
-		/* EVENT
-		 * @description <param>EKF2_RNG_CTRL</param> is set to {1:.0}.
-		 */
-		events::send<float>(events::ID("ekf2_hgt_ref_rng"), events::Log::Warning,
-				    "Range enabled by EKF2_HGT_REF", _param_ekf2_rng_ctrl.get());
-	}
-
-#endif // CONFIG_EKF2_RANGE_FINDER
-
-#if defined(CONFIG_EKF2_GNSS)
-
-	if ((_param_ekf2_hgt_ref.get() == HeightSensor::GNSS) && !(_param_ekf2_gps_ctrl.get() & GnssCtrl::VPOS)) {
-		_param_ekf2_gps_ctrl.set(_param_ekf2_gps_ctrl.get() | (GnssCtrl::VPOS | GnssCtrl::HPOS | GnssCtrl::VEL));
-		_param_ekf2_gps_ctrl.commit();
-		mavlink_log_critical(&_mavlink_log_pub, "GPS enabled by EKF2_HGT_REF\n");
-		/* EVENT
-		 * @description <param>EKF2_GPS_CTRL</param> is set to {1:.0}.
-		 */
-		events::send<float>(events::ID("ekf2_hgt_ref_gps"), events::Log::Warning,
-				    "GPS enabled by EKF2_HGT_REF", _param_ekf2_gps_ctrl.get());
-	}
-
-#endif // CONFIG_EKF2_GNSS
-
-#if defined(CONFIG_EKF2_EXTERNAL_VISION)
-
-	if ((_param_ekf2_hgt_ref.get() == HeightSensor::EV)
-	    && !(_param_ekf2_ev_ctrl.get() & static_cast<int32_t>(EvCtrl::VPOS))) {
-		_param_ekf2_ev_ctrl.set(_param_ekf2_ev_ctrl.get() | static_cast<int32_t>(EvCtrl::VPOS));
-		_param_ekf2_ev_ctrl.commit();
-		mavlink_log_critical(&_mavlink_log_pub, "EV vertical position enabled by EKF2_HGT_REF\n");
-		/* EVENT
-		 * @description <param>EKF2_EV_CTRL</param> is set to {1:.0}.
-		 */
-		events::send<float>(events::ID("ekf2_hgt_ref_ev"), events::Log::Warning,
-				    "EV vertical position enabled by EKF2_HGT_REF", _param_ekf2_ev_ctrl.get());
-	}
-
-#endif // CONFIG_EKF2_EXTERNAL_VISION
-
 #if defined(CONFIG_EKF2_MAGNETOMETER)
 
 	// EKF2_MAG_TYPE obsolete options