Reset height and position data indoors from last known location#31177

Merged

rmackay9 merged 13 commits intoArduPilot:masterfrom

andyp1per:pr-height-baro-reset-rng

Feb 5, 2026

Commits on Feb 4, 2026

AP_NavEKF2: add accessor for EKF2 using gps
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AP_NavEKF3: add accessor for EKF using GPS
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AP_AHRS: add using_gps accessor
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AP_AHRS: add options to save and use last valid origin
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AP_AHRS: origin reported via mavlink when set

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Tools: add AHRSOriginRecorded test

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Copter: rename requires_GPS to requires_position

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Copter: separate GPS and position arming checks

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AP_AHRS: sub uses recorded origin by default

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Sub: use AHRS_ORIGIN in place of local ORIGIN params

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Tools: Sub.BackupOrigin autotest uses AHRS_ORIGIN params

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Tools: copter and sub autotests delay 2 sec after setting origin

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autotest: fix spelling
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