From f97f0b6ea3daa4c3737c6ddfc3d79698705b2f41 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Sat, 30 Mar 2019 13:46:16 +1100
Subject: [PATCH] EKF: Remove unnecessary code

_flt_mag_align_start_time is set on initial alignment and will always be >0 before this check can run
---
 EKF/control.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/EKF/control.cpp b/EKF/control.cpp
index c2de181739..98b602a1aa 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -1533,7 +1533,7 @@ void Ekf::controlMagFusion()
 			}
 
 		} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_3D) {
-			if (!_control_status.flags.mag_3D && _control_status.flags.yaw_align && (_flt_mag_align_start_time > 0)) {
+			if (!_control_status.flags.mag_3D && _control_status.flags.yaw_align) {
 				// only commence 3-axis fusion when yaw is aligned and field states set
 				_control_status.flags.mag_3D = true;
 			}