ekf2: revert minor baro ctrl check change from 078e4c9 (ekf: always publish baro and gnss bias even if zero (#25385))

2026-02-06 03:13:00 +08:00 · 2025-08-11 21:05:00 -04:00
parent a69e0c6efc
commit f161a32c55
1 changed files with 0 additions and 5 deletions
--- a/src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp
@@ -45,11 +45,6 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)
 	auto &aid_src = _aid_src_baro_hgt;
 	HeightBiasEstimator &bias_est = _baro_b_est;

-	if (_params.ekf2_baro_ctrl == 0) {
-		stopBaroHgtFusion();
-		return;
-	}
-
 	bias_est.predict(_dt_ekf_avg);

 	baroSample baro_sample;