From 2347cb9e5047d0c6bc58cdaa3a7b06fee262b24a Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Thu, 25 Sep 2025 11:07:50 -0400
Subject: [PATCH] ekf2: SensorRangeFinder delete unused faulty flag

---
 .../ekf2/EKF/aid_sources/range_finder/sensor_range_finder.cpp  | 2 +-
 .../ekf2/EKF/aid_sources/range_finder/sensor_range_finder.hpp  | 3 ---
 2 files changed, 1 insertion(+), 4 deletions(-)

diff --git a/src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.cpp b/src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.cpp
index ab1c747e01..3d7f462801 100644
--- a/src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.cpp
@@ -64,7 +64,7 @@ void SensorRangeFinder::updateValidity(uint64_t current_time_us)
 {
 	updateDtDataLpf(current_time_us);
 
-	if (_is_faulty || isSampleOutOfDate(current_time_us) || !isDataContinuous()) {
+	if (isSampleOutOfDate(current_time_us) || !isDataContinuous()) {
 		_is_sample_valid = false;
 		_is_regularly_sending_data = false;
 		return;
diff --git a/src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.hpp b/src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.hpp
index e3e4f6e6cd..358b721fd2 100644
--- a/src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.hpp
+++ b/src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.hpp
@@ -120,8 +120,6 @@ public:
 	float getValidMinVal() const { return _rng_valid_min_val; }
 	float getValidMaxVal() const { return _rng_valid_max_val; }
 
-	void setFaulty(bool faulty = true) { _is_faulty = faulty; }
-
 private:
 	void updateSensorToEarthRotation(const matrix::Dcmf &R_to_earth);
 
@@ -141,7 +139,6 @@ private:
 	bool _is_sample_valid{};	///< true if range finder sample retrieved from buffer is valid
 	bool _is_regularly_sending_data{false}; ///< true if the interval between two samples is less than the maximum expected interval
 	uint64_t _time_last_valid_us{};	///< time the last range finder measurement was ready (uSec)
-	bool _is_faulty{false};         ///< the sensor should not be used anymore
 
 	/*
 	 * Stuck check