decouple optical flow tilt from range tilt, always publish baro bias

src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp

@@ -88,7 +88,9 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
 		bool is_tilt_good = true;
 
 #if defined(CONFIG_EKF2_RANGE_FINDER)
-		is_tilt_good = (_R_to_earth(2, 2) > _params.range_cos_max_tilt);
+		// TODO: magic number -- decouple max tilt for flow fusion from max tilt for range fusion
+		float cosine_max_tilt = 0.7071f;
+		is_tilt_good = (_R_to_earth(2, 2) > cosine_max_tilt);
 #endif // CONFIG_EKF2_RANGE_FINDER
 
 		calcOptFlowBodyRateComp(flow_sample);

src/modules/ekf2/EKF/aid_sources/range_finder/jake_range_height_control.cpp

@@ -68,7 +68,8 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 	// TODO: move setting params to init function
 	// Set all of the parameters
 	_range_sensor.setPitchOffset(_params.ekf2_rng_pitch);
-	_range_sensor.setCosMaxTilt(_params.range_cos_max_tilt);
+	float cosine_max_tilt = 0.866f; // 30 degrees
+	_range_sensor.setCosMaxTilt(cosine_max_tilt);
 	_rng_consistency_check.setGate(_params.ekf2_rng_k_gate);
 
 	// Update sensor to earth rotation

src/modules/ekf2/EKF/common.h

@@ -424,7 +424,6 @@ struct parameters {
 	float ekf2_rng_a_hmax{5.0f};            ///< maximum height above ground for which we allow to use the range finder as height source (if rng_control == 1)
 	float ekf2_rng_a_vmax{1.0f};            ///< maximum ground velocity for which we allow to use the range finder as height source (if rng_control == 1)
 	float ekf2_rng_qlty_t{1.0f};            ///< minimum duration during which the reported range finder signal quality needs to be non-zero in order to be declared valid (s)
-	float range_cos_max_tilt{0.7071f};      ///< cosine of the maximum tilt angle from the vertical that permits use of range finder and flow data
 	float ekf2_rng_k_gate{1.0f};            ///< gate size used by the range finder kinematic consistency check
 	float ekf2_rng_fog{0.f};                ///< max distance which a blocked range sensor measures (fog, dirt) [m]
 

src/modules/ekf2/EKF2.hpp

@@ -353,7 +353,7 @@ private:
 	uint32_t _device_id_baro{0};
 	hrt_abstime _status_baro_hgt_pub_last{0};
 
-	float _last_baro_bias_published{};
+	float _last_baro_bias_published{NAN};
 
 	uORB::Subscription _airdata_sub{ORB_ID(vehicle_air_data)};