remove EKF2_GND_EFF_EN flag and use condition EKF2_GND_EFF_DZ > 0 instead

src/modules/ekf2/ekf2_main.cpp

@@ -337,8 +337,6 @@ private:
 		(ParamExtFloat<px4::params::EKF2_BARO_NOISE>) _baro_noise,	///< observation noise for barometric height fusion (m)
 		(ParamExtFloat<px4::params::EKF2_BARO_GATE>)
 		_baro_innov_gate,	///< barometric height innovation consistency gate size (STD)
-		(ParamInt<px4::params::EKF2_GND_EFF_EN>)
-		_enable_gnd_effect,	///< Controls barometric deadzone fusion, 0 disables, 1 enables
 		(ParamExtFloat<px4::params::EKF2_GND_EFF_DZ>)
 		_gnd_effect_deadzone,	///< barometric deadzone range for negative innovations (m)
 		(ParamExtFloat<px4::params::EKF2_GPS_P_GATE>)
@@ -1255,7 +1253,7 @@ void Ekf2::run()
 		if (vehicle_land_detected_updated) {
 			if (orb_copy(ORB_ID(vehicle_land_detected), _vehicle_land_detected_sub, &vehicle_land_detected) == PX4_OK) {
 				_ekf.set_in_air_status(!vehicle_land_detected.landed);
-				if(_enable_gnd_effect.get())
+				if(_gnd_effect_deadzone.get() > 0.0f)
 				  _ekf.set_gnd_effect_flag(vehicle_land_detected.in_ground_effect);
 			}
 		}

src/modules/ekf2/ekf2_params.c

@@ -538,28 +538,19 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_YAWLIM, 0.25f);
  */
 PARAM_DEFINE_FLOAT(EKF2_BARO_GATE, 5.0f);
 
-/**
- * Boolean determining if barometer deadzone near ground should be accounted.
- *
- * A value of 1 indicates that deadzone is active
- *
- * @group EKF2
- * @boolean
- */
-PARAM_DEFINE_INT32(EKF2_GND_EFF_EN, 0);
-
 /**
  * Baro deadzone range for height fusion
  *
- * Sets the value of deadzone applied to negative baro innovations when ground effect compensation is active
+ * Sets the value of deadzone applied to negative baro innovations.
+ * Deadzone is enabled when EKF2_GND_EFF_DZ > 0.
  *
  * @group EKF2
- * @min 0.5
+ * @min 0.0
  * @max 10.0
  * @unit M
  * @decimal 1
  */
-PARAM_DEFINE_FLOAT(EKF2_GND_EFF_DZ, 5.0f);
+PARAM_DEFINE_FLOAT(EKF2_GND_EFF_DZ, 0.0f);
 
 /**
  * Gate size for GPS horizontal position fusion