From 889602ed5e8fcd3de6a8db6ede25e0327621016c Mon Sep 17 00:00:00 2001
From: bresch <brescianimathieu@gmail.com>
Date: Fri, 29 Jan 2021 15:40:18 +0100
Subject: [PATCH] gps blend: always pass through GpsBlending class for
 selection

---
 .../vehicle_gps_position/VehicleGPSPosition.cpp      | 12 ------------
 1 file changed, 12 deletions(-)

diff --git a/src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp b/src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp
index 67cd48da5f..7516c86214 100644
--- a/src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp
+++ b/src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp
@@ -108,18 +108,6 @@ void VehicleGPSPosition::Run()
 	// GPS blending
 	ScheduleDelayed(500_ms); // backup schedule
 
-	// if disabled simply republish the first sensor_gps as vehicle_gps_position and return immediately
-	if (_param_sens_gps_mask.get() == 0) {
-		sensor_gps_s gps;
-
-		if (_sensor_gps_sub[0].update(&gps)) {
-			Publish(gps, 0);
-		}
-
-		perf_end(_cycle_perf);
-		return;
-	}
-
 	// Check all GPS instance
 	bool any_gps_updated = false;
 	bool gps_updated = false;