From a5a25411da2e4cfcacd27fc5cba2fd3f4b8def6c Mon Sep 17 00:00:00 2001
From: Paul Riseborough <priseborough@sypaq.com.au>
Date: Tue, 1 Jun 2021 10:09:22 +1000
Subject: [PATCH] AP_NavEKF3: Remove unnecessary baro limiting

---
 libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
index af630c694c..d194a31945 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
@@ -1181,11 +1181,6 @@ void NavEKF3_core::selectHeightForFusion()
         if (dal.get_takeoff_expected() || dal.get_touchdown_expected()) {
             posDownObsNoise *= frontend->gndEffectBaroScaler;
         }
-        // If we are in takeoff mode, the height measurement is limited to be no less than the measurement at start of takeoff
-        // This prevents negative baro disturbances due to rotor wash ground interaction corrupting the EKF altitude during initial ascent
-        if (motorsArmed && dal.get_takeoff_expected() && !assume_zero_sideslip()) {
-            hgtMea = MAX(hgtMea, meaHgtAtTakeOff);
-        }
         velPosObs[5] = -hgtMea;
     } else {
         fuseHgtData = false;