Remove tilt align from position innovation check

EKF/vel_pos_fusion.cpp

@@ -96,7 +96,7 @@ bool Ekf::fuseHorizontalPosition(const Vector3f &innov, const Vector2f &innov_ga
 	test_ratio(0) = fmaxf(sq(innov(0)) / (sq(innov_gate(0)) * innov_var(0)),
 			      sq(innov(1)) / (sq(innov_gate(0)) * innov_var(1)));
 
-	const bool innov_check_pass = (test_ratio(0) <= 1.0f) || !_control_status.flags.tilt_align;
+	const bool innov_check_pass = test_ratio(0) <= 1.0f;
 	if (innov_check_pass) {
 		if (!_fuse_hpos_as_odom) {
 			_time_last_hor_pos_fuse = _time_last_imu;
@@ -122,7 +122,7 @@ bool Ekf::fuseVerticalPosition(const Vector3f &innov, const Vector2f &innov_gate
 	innov_var(2) = P(9, 9) + obs_var(2);
 	test_ratio(1) = sq(innov(2)) / (sq(innov_gate(1)) * innov_var(2));
 
-	const bool innov_check_pass = (test_ratio(1) <= 1.0f) || !_control_status.flags.tilt_align;
+	const bool innov_check_pass = test_ratio(1) <= 1.0f;
 	if (innov_check_pass) {
 		_time_last_hgt_fuse = _time_last_imu;
 		_innov_check_fail_status.flags.reject_ver_pos = false;