Remove filtering on external vision alignment

EKF/ekf.h

@@ -319,10 +319,7 @@ private:
 	Vector3f _pos_meas_prev;		///< previous value of NED position measurement fused using odometry assumption (m)
 	Vector2f _hpos_pred_prev;		///< previous value of NE position state used by odometry fusion (m)
 	bool _hpos_prev_available{false};	///< true when previous values of the estimate and measurement are available for use
-	AxisAnglef _ev_rot_vec_filt;		///< filtered rotation vector defining the rotation EV to EKF reference, initiliazied to zero rotation  (rad)
 	Dcmf _R_ev_to_ekf;			///< transformation matrix that rotates observations from the EV to the EKF navigation frame, initialized with Identity
-	uint64_t _ev_rot_last_time_us{0};	///< previous time that the calculation of the EV to EKF rotation matrix was updated (uSec)
-	bool _R_ev_to_ekf_initialised{0};	///< _R_ev_to_ekf should only be initialised once in the beginning through the reset function
 
 	// booleans true when fresh sensor data is available at the fusion time horizon
 	bool _gps_data_ready{false};	///< true when new GPS data has fallen behind the fusion time horizon and is available to be fused
@@ -615,15 +612,9 @@ private:
 	// modify output filter to match the the EKF state at the fusion time horizon
 	void alignOutputFilter();
 
-	// update the estimated angular misalignment vector between the EV naigration frame and the EKF navigation frame
-	// and update the rotation matrix which transforms EV navigation frame measurements into NED
+	// update the rotation matrix which transforms EV navigation frame measurements into NED
 	void calcExtVisRotMat();
 
-
-	// reset the estimated angular misalignment vector between the EV naigration frame and the EKF navigation frame
-	// and reset the rotation matrix which transforms EV navigation frame measurements into NED
-	void resetExtVisRotMat();
-
 	// limit the diagonal of the covariance matrix
 	// force symmetry when the argument is true
 	void fixCovarianceErrors(bool force_symmetry);