From e898e29af367852e7ac4b457a32303b1cf6458a4 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 21 Mar 2022 14:21:30 -0400
Subject: [PATCH] ekf2: delete isYawAngleObservable()

---
 src/modules/ekf2/EKF/ekf.h           | 1 -
 src/modules/ekf2/EKF/mag_control.cpp | 2 +-
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h
index 41c5ee3df2..29ab18a8a9 100644
--- a/src/modules/ekf2/EKF/ekf.h
+++ b/src/modules/ekf2/EKF/ekf.h
@@ -853,7 +853,6 @@ private:
 	void check3DMagFusionSuitability();
 	void checkYawAngleObservability();
 	void checkMagBiasObservability();
-	bool isYawAngleObservable() const { return _yaw_angle_observable; }
 	bool isMagBiasObservable() const { return _mag_bias_observable; }
 	bool canUse3DMagFusion() const;
 
diff --git a/src/modules/ekf2/EKF/mag_control.cpp b/src/modules/ekf2/EKF/mag_control.cpp
index 5033020428..08042e4e75 100644
--- a/src/modules/ekf2/EKF/mag_control.cpp
+++ b/src/modules/ekf2/EKF/mag_control.cpp
@@ -232,7 +232,7 @@ void Ekf::check3DMagFusionSuitability()
 	checkYawAngleObservability();
 	checkMagBiasObservability();
 
-	if (isMagBiasObservable() || isYawAngleObservable()) {
+	if (isMagBiasObservable() || _yaw_angle_observable) {
 		_time_last_mov_3d_mag_suitable = _imu_sample_delayed.time_us;
 	}
 }