Sub: simplify setting-home-from-ekf-origin logic

Author: Williangalvani

ArduSub/Sub.h

@@ -445,7 +445,6 @@ class Sub : public AP_Vehicle {
     void userhook_SlowLoop();
     void userhook_SuperSlowLoop();
     void update_home_from_EKF();
-    void set_home_to_current_location_inflight();
     bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
     bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
     float get_alt_rel() const WARN_IF_UNUSED;

ArduSub/commands.cpp

@@ -7,29 +7,8 @@ void Sub::update_home_from_EKF()
     if (ahrs.home_is_set()) {
         return;
     }
-
-    // special logic if home is set in-flight
-    if (motors.armed()) {
-        set_home_to_current_location_inflight();
-    } else {
-        // move home to current ekf location (this will set home_state to HOME_SET)
-        if (!set_home_to_current_location(false)) {
-            // ignore this failure
-        }
-    }
-}
-
-// set_home_to_current_location_inflight - set home to current GPS location (horizontally) and EKF origin vertically
-void Sub::set_home_to_current_location_inflight()
-{
-    // get current location from EKF
-    Location temp_loc;
-    Location ekf_origin;
-    if (ahrs.get_location(temp_loc) && ahrs.get_origin(ekf_origin)) {
-        temp_loc.copy_alt_from(ekf_origin);
-        if (!set_home(temp_loc, false)) {
-            // ignore this failure
-        }
+    if (!set_home_to_current_location(false)) {
+        // ignore this failure
     }
 }