From ec20f92558030c21d2094b989c279d605ec77704 Mon Sep 17 00:00:00 2001
From: Silvan Fuhrer <silvan@auterion.com>
Date: Fri, 16 Jun 2023 17:26:00 +0200
Subject: [PATCH] EKF2: sideslip_fusion: remove construced airspeed magnitude
 check to fuse beta

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---
 src/modules/ekf2/EKF/sideslip_fusion.cpp | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/src/modules/ekf2/EKF/sideslip_fusion.cpp b/src/modules/ekf2/EKF/sideslip_fusion.cpp
index 939013f363..e806d13bfc 100644
--- a/src/modules/ekf2/EKF/sideslip_fusion.cpp
+++ b/src/modules/ekf2/EKF/sideslip_fusion.cpp
@@ -71,9 +71,7 @@ void Ekf::controlBetaFusion(const imuSample &imu_delayed)
 				resetWindToZero();
 			}
 
-			if (Vector2f(Vector2f(_state.vel) - _state.wind_vel).longerThan(7.f)) {
-				fuseSideslip(_aid_src_sideslip);
-			}
+			fuseSideslip(_aid_src_sideslip);
 		}
 	}
 }