ekf2: remove unused EKF2_TERR_MASK

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -36,7 +36,6 @@ param set-default COM_RC_LOSS_T 3
 
 
 # ekf2
-param set-default EKF2_TERR_MASK 1
 param set-default EKF2_BARO_NOISE 2
 
 param set-default EKF2_BCOEF_X 31.5

src/modules/ekf2/EKF/common.h

@@ -382,9 +382,6 @@ struct parameters {
 #endif // CONFIG_EKF2_SIDESLIP
 
 #if defined(CONFIG_EKF2_TERRAIN)
-	int32_t terrain_fusion_mode{static_cast<int32_t>(TerrainFusionMask::TerrainFuseRangeFinder)
-				    | static_cast<int32_t>(TerrainFusionMask::TerrainFuseOpticalFlow)}; ///< aiding source(s) selection bitmask for the terrain estimation
-
 	float terrain_p_noise{5.0f};            ///< process noise for terrain offset (m/sec)
 	float terrain_gradient{0.5f};           ///< gradient of terrain used to estimate process noise due to changing position (m/m)
 	const float terrain_timeout{10.f};      ///< maximum time for invalid bottom distance measurements before resetting terrain estimate (s)

src/modules/ekf2/EKF2.cpp

@@ -147,7 +147,6 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_param_ekf2_min_rng(_params->rng_gnd_clearance),
 #endif // CONFIG_EKF2_TERRAIN || CONFIG_EKF2_OPTICAL_FLOW || CONFIG_EKF2_RANGE_FINDER
 #if defined(CONFIG_EKF2_TERRAIN)
-	_param_ekf2_terr_mask(_params->terrain_fusion_mode),
 	_param_ekf2_terr_noise(_params->terrain_p_noise),
 	_param_ekf2_terr_grad(_params->terrain_gradient),
 #endif // CONFIG_EKF2_TERRAIN

src/modules/ekf2/EKF2.hpp

@@ -604,7 +604,6 @@ private:
 		(ParamExtFloat<px4::params::EKF2_MIN_RNG>) _param_ekf2_min_rng,
 #endif // CONFIG_EKF2_TERRAIN || CONFIG_EKF2_OPTICAL_FLOW || CONFIG_EKF2_RANGE_FINDER
 #if defined(CONFIG_EKF2_TERRAIN)
-		(ParamExtInt<px4::params::EKF2_TERR_MASK>) _param_ekf2_terr_mask,
 		(ParamExtFloat<px4::params::EKF2_TERR_NOISE>) _param_ekf2_terr_noise,
 		(ParamExtFloat<px4::params::EKF2_TERR_GRAD>) _param_ekf2_terr_grad,
 #endif // CONFIG_EKF2_TERRAIN

src/modules/ekf2/module.yaml

@@ -549,8 +549,7 @@ parameters:
           unexpected errors. For these reasons, if accurate control of height relative
           to ground is required, it is recommended to use the MPC_ALT_MODE parameter
           instead, unless baro errors are severe enough to cause problems with landing
-          and takeoff. To en-/disable range finder for terrain height estimation,
-          use EKF2_TERR_MASK instead. If this parameter is enabled then the estimator
+          and takeoff. If this parameter is enabled then the estimator
           will make use of the range finder measurements to estimate its height in
           addition to other height sources (if activated). Range sensor aiding can
           be enabled (i.e.: always use) or set in "conditional" mode. Conditional
@@ -565,19 +564,6 @@ parameters:
         1: Enabled (conditional mode)
         2: Enabled
       default: 1
-    EKF2_TERR_MASK:
-      description:
-        short: Integer bitmask controlling fusion sources of the terrain estimator
-        long: 'Set bits in the following positions to enable: 0 : Set to true to use
-          range finder data if available 1 : Set to true to use optical flow data
-          if available'
-      type: bitmask
-      bit:
-        0: use range finder
-        1: use optical flow
-      default: 3
-      min: 0
-      max: 3
     EKF2_NOAID_TOUT:
       description:
         short: Maximum inertial dead-reckoning time