Copter: Ignore some checks in SITL to get faster takeoff

ArduCopter/arming_checks.cpp

@@ -500,6 +500,7 @@ bool Copter::pre_arm_gps_checks(bool display_failure)
         return true;
     }
 
+#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
     // ensure GPS is ok
     if (!position_ok()) {
         if (display_failure) {
@@ -525,6 +526,7 @@ bool Copter::pre_arm_gps_checks(bool display_failure)
         }
         return false;
     }
+#endif 
 
     // check home and EKF origin are not too far
     if (far_from_EKF_origin(ahrs.get_home())) {

ArduCopter/ekf_check.cpp

@@ -28,6 +28,10 @@ static struct {
 // should be called at 10hz
 void Copter::ekf_check()
 {
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    return;
+#endif
+
     // exit immediately if ekf has no origin yet - this assumes the origin can never become unset
     Location temp_loc;
     if (!ahrs.get_origin(temp_loc)) {

ArduCopter/events.cpp

@@ -171,6 +171,9 @@ void Copter::failsafe_terrain_set_status(bool data_ok)
 // terrain failsafe action
 void Copter::failsafe_terrain_on_event()
 {
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    return;
+#endif
     failsafe.terrain = true;
     gcs_send_text(MAV_SEVERITY_CRITICAL,"Failsafe: Terrain data missing");
     Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_TERRAIN, ERROR_CODE_FAILSAFE_OCCURRED);

ArduCopter/flight_mode.cpp

@@ -14,6 +14,9 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
     // boolean to record if flight mode could be set
     bool success = false;
     bool ignore_checks = !motors.armed();   // allow switching to any mode if disarmed.  We rely on the arming check to perform
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    ignore_checks = true;
+#endif
 
     // return immediately if we are already in the desired mode
     if (mode == control_mode) {