autotest: move Copter implementation of far_from_EKF_origin up to AP_…

…Vehicle, use it

the Sub and Blimp implementations were buggy and no-longer in-line with Copter's.

In particular, several years ago Copter's horizontal distance limit was removed, and the checking of the vertical limit was fixed.

The old vertical distance check was wrong, it was in m rather than km, and Sub/Blimp still have that problem before this patch.

Tools/autotest/blimp.py

@@ -254,6 +254,7 @@ def tests(self):
             self.FlyManual,
             self.FlyLoiter,
             self.PREFLIGHT_Pressure,
+            self.far_from_EKF_origin,
         ])
         return ret
 

Tools/autotest/vehicle_test_suite.py

@@ -13554,6 +13554,18 @@ def MSP_DJI(self):
             if dist < 1:
                 break
 
+    def far_from_EKF_origin(self):
+        '''test that we get a failure if home is set far from the EKF origin'''
+        self.wait_ready_to_arm()
+        here = self.poll_home_position()
+        self.run_cmd_int(
+            mavutil.mavlink.MAV_CMD_DO_SET_HOME,
+            p5=here.latitude,
+            p6=here.longitude,
+            p7=6000000,
+            want_result=mavutil.mavlink.MAV_RESULT_DENIED,
+        )
+
     def CRSF(self):
         '''Test RC CRSF'''
         self.context_push()