AP_NavEKF3: do not look at takeoff for zero velocity fusion

libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp

@@ -696,14 +696,13 @@ void NavEKF3_core::SelectVelPosFusion()
             }
         } else {
             fusePosData = true;
-            // When stationary on ground or armed before takeoff, fuse zero velocity
+            // When stationary on ground, fuse zero velocity
             // to constrain gyro bias and Z-axis accel bias learning. XY accel biases
             // remain unobservable until the vehicle accelerates and are separately
             // inhibited by dvelBiasAxisInhibit in CovariancePrediction.
             // Use onGroundNotMoving to avoid fusing zero velocity when the vehicle
             // is being moved (e.g. on a boat or carried by hand).
-            // takeoff_expected covers the armed-on-ground case before liftoff.
-            const bool onGroundNotFlying = onGroundNotMoving || dal.get_takeoff_expected();
+            const bool onGroundNotFlying = onGroundNotMoving;
             if (onGroundNotFlying && tiltAlignComplete) {
                 fuseVelData = true;
                 fusingStationaryZeroVel = true;