From c39a21aa54d52338459e37dcc12dced8084fb72a Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 28 Sep 2021 10:50:45 -0400
Subject: [PATCH] ekf2: selector remove special timeout condition

 - this mainly produces false positives when disarmed and bench testing
---
 src/modules/ekf2/EKF2Selector.cpp | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/src/modules/ekf2/EKF2Selector.cpp b/src/modules/ekf2/EKF2Selector.cpp
index bacdc4ea0d..95a8d30a55 100644
--- a/src/modules/ekf2/EKF2Selector.cpp
+++ b/src/modules/ekf2/EKF2Selector.cpp
@@ -251,12 +251,7 @@ bool EKF2Selector::UpdateErrorScores()
 	bool primary_updated = false;
 
 	// default estimator timeout
-	hrt_abstime status_timeout = 50_ms;
-
-	if (hrt_elapsed_time(&_attitude_last.timestamp) > FILTER_UPDATE_PERIOD) {
-		// much lower timeout if current primary estimator attitude isn't publishing
-		status_timeout = 2 * FILTER_UPDATE_PERIOD;
-	}
+	const hrt_abstime status_timeout = 50_ms;
 
 	// calculate individual error scores
 	for (uint8_t i = 0; i < EKF2_MAX_INSTANCES; i++) {