From 4d458833dc73264cd13c95433e33c4c5bcc615f1 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 30 Oct 2015 12:52:49 +0900
Subject: [PATCH] AP_NavEKF2: remove unnecessary PV_AidingMode check

Thanks to OXINARF for catching this
---
 libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
index 43049f2fe6..9b8a7c2a6d 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
@@ -379,7 +379,7 @@ void NavEKF2_core::FuseVelPosNED()
             // declare a timeout if we have not fused velocity data for too long or not aiding
             velTimeout = (((imuSampleTime_ms - lastVelPassTime_ms) > gpsRetryTime) || PV_AidingMode == AID_NONE);
             // use velocity data if healthy, timed out, or in constant position mode
-            if (velHealth || velTimeout || (PV_AidingMode == AID_NONE)) {
+            if (velHealth || velTimeout) {
                 velHealth = true;
                 // restart the timeout count
                 lastVelPassTime_ms = imuSampleTime_ms;