ArduPilot
AP_NavEKF3: remove takeoff-detection code
the current implementation pokes data back into the DAL, which is in the not-good category.
This is an alternative to https://github.com/ArduPilot/ardupilot/pull/28376 . Instead of breaking the loop we just remove the offending code.
I'm not sure about this one, but talking with @tridge he thought it a reasonable step. OTOH, this code wasn't added just for fun, it might have solved a real problem. tridge and I both thought the vehicle probably has more information to do this sort of calculation...
I agree that the flight code (and not the EKF) should not be responsible for determining if the vehicle is flying or not. Maybe the flight code needs to tell the EKF but the EKF shouldn't be trying to figure this out on its own
For reference, I found the PR #15810 in which the feature was added to the mainline AP and the comment that indicates the likely cause of that detection being added in the first place https://github.com/ArduPilot/ardupilot/pull/15810#issuecomment-750650213 and the commit adding the logic https://github.com/ArduPilot/ardupilot/pull/15810/commits/204dff27b3da43cbf0cffed761dd8f97507df779
Ping @Hwurzburg .
I think the information that @LupusTheCanine points out this was added for compass-less Planes to get the GSF working ASAP. Could you confirm that's your recollection, and what the scenario was? It seems like it was something along the lines of "throw a compass-less Plane off in FBWA (with no throttle-up) and expect yaw to start working instantly."
I usually auto takeoff, not FBWA takeoff, but the problem would have occurred in both...without Paul's changes it could veer horribly from throw direction in takeoff....we need to be sure any changes to this area of the code are thoroughly tested in a compass less plane takeoff, both manual and auto
