diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 71c0076710..543d53eb88 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -821,19 +821,6 @@ void EKF2::VerifyParams()
{
#if defined(CONFIG_EKF2_GNSS)
- if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_GPS)
- || (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_GPS_YAW)) {
- _param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_GPS |
- SensorFusionMask::DEPRECATED_USE_GPS_YAW));
- _param_ekf2_aid_mask.commit();
- mavlink_log_critical(&_mavlink_log_pub, "Use EKF2_GPS_CTRL instead\n");
- /* EVENT
- * @description EKF2_AID_MASK is set to {1:.0}.
- */
- events::send(events::ID("ekf2_aid_mask_gps"), events::Log::Warning,
- "Use EKF2_GPS_CTRL instead", _param_ekf2_aid_mask.get());
- }
-
if ((_param_ekf2_gps_ctrl.get() & GnssCtrl::VPOS) && !(_param_ekf2_gps_ctrl.get() & GnssCtrl::HPOS)) {
_param_ekf2_gps_ctrl.set(_param_ekf2_gps_ctrl.get() & ~GnssCtrl::VPOS);
_param_ekf2_gps_ctrl.commit();
@@ -906,110 +893,8 @@ void EKF2::VerifyParams()
"EV vertical position enabled by EKF2_HGT_REF", _param_ekf2_ev_ctrl.get());
}
- // EV EKF2_AID_MASK -> EKF2_EV_CTRL
- if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_VEL)
- || (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_POS)
- || (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_YAW)
- ) {
-
- // EKF2_EV_CTRL set VEL bit
- if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_VEL)) {
- _param_ekf2_ev_ctrl.set(_param_ekf2_ev_ctrl.get() | static_cast(EvCtrl::VEL));
- }
-
- // EKF2_EV_CTRL set HPOS/VPOS bits
- if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_POS)) {
- _param_ekf2_ev_ctrl.set(_param_ekf2_ev_ctrl.get()
- | static_cast(EvCtrl::HPOS) | static_cast(EvCtrl::VPOS));
- }
-
- // EKF2_EV_CTRL set YAW bit
- if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_YAW)) {
- _param_ekf2_ev_ctrl.set(_param_ekf2_ev_ctrl.get() | static_cast(EvCtrl::YAW));
- }
-
- _param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_EXT_VIS_VEL));
- _param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_EXT_VIS_POS));
- _param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_EXT_VIS_YAW));
-
- _param_ekf2_ev_ctrl.commit();
- _param_ekf2_aid_mask.commit();
-
- mavlink_log_critical(&_mavlink_log_pub, "EKF2 EV use EKF2_EV_CTRL instead of EKF2_AID_MASK\n");
- /* EVENT
- * @description EKF2_AID_MASK is set to {1:.0}.
- */
- events::send(events::ID("ekf2_aid_mask_ev"), events::Log::Warning,
- "Use EKF2_EV_CTRL instead", _param_ekf2_aid_mask.get());
- }
-
#endif // CONFIG_EKF2_EXTERNAL_VISION
- // IMU EKF2_AID_MASK -> EKF2_IMU_CTRL (2023-01-31)
- if (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_INHIBIT_ACC_BIAS) {
-
- // EKF2_IMU_CTRL set disable accel bias bit
- _param_ekf2_imu_ctrl.set(_param_ekf2_imu_ctrl.get() & ~(static_cast(ImuCtrl::AccelBias)));
-
- // EKF2_AID_MASK clear inhibit accel bias bit
- _param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_INHIBIT_ACC_BIAS));
-
- _param_ekf2_imu_ctrl.commit();
- _param_ekf2_aid_mask.commit();
-
- mavlink_log_critical(&_mavlink_log_pub, "EKF2 IMU accel bias inhibit use EKF2_IMU_CTRL instead of EKF2_AID_MASK\n");
- /* EVENT
- * @description EKF2_AID_MASK is set to {1:.0}.
- */
- events::send(events::ID("ekf2_aid_mask_imu"), events::Log::Warning,
- "Use EKF2_IMU_CTRL instead", _param_ekf2_aid_mask.get());
- }
-
-#if defined(CONFIG_EKF2_DRAG_FUSION)
-
- if (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_DRAG) {
- // EKF2_DRAG_CTRL enable drag fusion
- _param_ekf2_drag_ctrl.set(1);
-
- // EKF2_AID_MASK clear deprecated bits
- _param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_DRAG));
-
- _param_ekf2_drag_ctrl.commit();
- _param_ekf2_aid_mask.commit();
-
- mavlink_log_critical(&_mavlink_log_pub, "EKF2 drag fusion use EKF2_DRAG_CTRL instead of EKF2_AID_MASK\n");
- /* EVENT
- * @description EKF2_AID_MASK is set to {1:.0}.
- */
- events::send(events::ID("ekf2_aid_mask_drag"), events::Log::Warning,
- "Use EKF2_DRAG_CTRL instead", _param_ekf2_aid_mask.get());
- }
-
-#endif // CONFIG_EKF2_DRAG_FUSION
-
-#if defined(CONFIG_EKF2_OPTICAL_FLOW)
-
- // IMU EKF2_AID_MASK -> EKF2_OF_CTRL (2023-04-26)
- if (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_OPT_FLOW) {
- // EKF2_OF_CTRL enable flow fusion
- _param_ekf2_of_ctrl.set(1);
-
- // EKF2_AID_MASK clear deprecated bit
- _param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_OPT_FLOW));
-
- _param_ekf2_of_ctrl.commit();
- _param_ekf2_aid_mask.commit();
-
- mavlink_log_critical(&_mavlink_log_pub, "EKF2 optical flow use EKF2_OF_CTRL instead of EKF2_AID_MASK\n");
- /* EVENT
- * @description EKF2_AID_MASK is set to {1:.0}.
- */
- events::send(events::ID("ekf2_aid_mask_opt_flow"), events::Log::Warning,
- "Use EKF2_OF_CTRL instead", _param_ekf2_aid_mask.get());
- }
-
-#endif // CONFIG_EKF2_OPTICAL_FLOW
-
#if defined(CONFIG_EKF2_MAGNETOMETER)
// EKF2_MAG_TYPE obsolete options
@@ -1020,7 +905,7 @@ void EKF2::VerifyParams()
mavlink_log_critical(&_mavlink_log_pub, "EKF2_MAG_TYPE invalid, resetting to default");
/* EVENT
- * @description EKF2_AID_MASK is set to {1:.0}.
+ * @description EKF2_MAG_TYPE is set to {1:.0}.
*/
events::send(events::ID("ekf2_mag_type_invalid"), events::Log::Warning,
"EKF2_MAG_TYPE invalid, resetting to default", _param_ekf2_mag_type.get());
diff --git a/src/modules/ekf2/EKF2.hpp b/src/modules/ekf2/EKF2.hpp
index 88d1e59cbf..060ce108db 100644
--- a/src/modules/ekf2/EKF2.hpp
+++ b/src/modules/ekf2/EKF2.hpp
@@ -156,19 +156,6 @@ public:
int instance() const { return _instance; }
private:
- //TODO: remove after 1.14 release
- enum SensorFusionMask : uint16_t {
- // Bit locations for fusion_mode
- DEPRECATED_USE_GPS = (1 << 0), ///< set to true to use GPS data (DEPRECATED, use gnss_ctrl)
- DEPRECATED_USE_OPT_FLOW = (1 << 1), ///< set to true to use optical flow data
- DEPRECATED_INHIBIT_ACC_BIAS = (1 << 2), ///< set to true to inhibit estimation of accelerometer delta velocity bias
- DEPRECATED_USE_EXT_VIS_POS = (1 << 3), ///< set to true to use external vision position data
- DEPRECATED_USE_EXT_VIS_YAW = (1 << 4), ///< set to true to use external vision quaternion data for yaw
- DEPRECATED_USE_DRAG = (1 << 5), ///< set to true to use the multi-rotor drag model to estimate wind
- DEPRECATED_ROTATE_EXT_VIS = (1 << 6), ///< set to true to if the EV observations are in a non NED reference frame and need to be rotated before being used
- DEPRECATED_USE_GPS_YAW = (1 << 7), ///< set to true to use GPS yaw data if available (DEPRECATED, use gnss_ctrl)
- DEPRECATED_USE_EXT_VIS_VEL = (1 << 8), ///< set to true to use external vision velocity data
- };
static constexpr uint8_t MAX_NUM_IMUS = 4;
static constexpr uint8_t MAX_NUM_MAGS = 4;
@@ -642,9 +629,6 @@ private:
(ParamExtInt) _param_ekf2_synthetic_mag_z,
#endif // CONFIG_EKF2_MAGNETOMETER
- // measurement source control
- (ParamInt)
- _param_ekf2_aid_mask, ///< bitmasked integer that selects which of the GPS and optical flow aiding sources will be used
(ParamExtInt) _param_ekf2_hgt_ref, ///< selects the primary source for height data
(ParamExtInt)
diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c
index 2c85f2aa24..e275308824 100644
--- a/src/modules/ekf2/ekf2_params.c
+++ b/src/modules/ekf2/ekf2_params.c
@@ -603,36 +603,6 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_V_GATE, 5.0f);
*/
PARAM_DEFINE_FLOAT(EKF2_TAS_GATE, 5.0f);
-/**
- * Will be removed after v1.14 release
- *
- * Set bits in the following positions to enable:
- * 0 : Deprecated, use EKF2_GPS_CTRL instead
- * 1 : Deprecated. use EKF2_OF_CTRL instead
- * 2 : Deprecated, use EKF2_IMU_CTRL instead
- * 3 : Deprecated, use EKF2_EV_CTRL instead
- * 4 : Deprecated, use EKF2_EV_CTRL instead
- * 5 : Deprecated. use EKF2_DRAG_CTRL instead
- * 6 : Deprecated, use EKF2_EV_CTRL instead
- * 7 : Deprecated, use EKF2_GPS_CTRL instead
- * 8 : Deprecated, use EKF2_EV_CTRL instead
- *
- * @group EKF2
- * @min 0
- * @max 511
- * @bit 0 unused
- * @bit 1 unused
- * @bit 2 unused
- * @bit 3 unused
- * @bit 4 unused
- * @bit 5 unused
- * @bit 6 unused
- * @bit 7 unused
- * @bit 8 unused
- * @reboot_required true
- */
-PARAM_DEFINE_INT32(EKF2_AID_MASK, 0);
-
/**
* Determines the reference source of height data used by the EKF.
*