From cadcc584156a256b883ca36667f96e3659fe4aee Mon Sep 17 00:00:00 2001 From: bresch Date: Tue, 11 May 2021 12:02:18 +0200 Subject: [PATCH] mag reset: do not stop the fusion from inside the reset function The start/stop is already handled in the dedicated mag control logic The early return is not required as this case is handled just below --- EKF/ekf_helper.cpp | 5 ----- 1 file changed, 5 deletions(-) diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp index 94e7de063f..0f39a9aec9 100644 --- a/EKF/ekf_helper.cpp +++ b/EKF/ekf_helper.cpp @@ -487,11 +487,6 @@ bool Ekf::resetMagHeading(const Vector3f &mag_init, bool increase_yaw_var, bool return true; } - if (_params.mag_fusion_type >= MAG_FUSE_TYPE_NONE) { - stopMagFusion(); - return false; - } - // calculate the observed yaw angle and yaw variance float yaw_new; float yaw_new_variance = 0.0f;