AP_NavEKF3: minor comment and format fixes

libraries/AP_NavEKF3/AP_NavEKF3.h

@@ -557,7 +557,7 @@ private:
     uint32_t lastLaneSwitch_ms;
 
     struct {
-        uint32_t last_function_call;  // last time getLastYawYawResetAngle was called
+        uint32_t last_function_call;  // last time getLastYawResetAngle was called
         bool core_changed;            // true when a core change happened and hasn't been consumed, false otherwise
         uint32_t last_primary_change; // last time a primary has changed
         float core_delta;             // the amount of yaw change between cores when a change happened

libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp

@@ -419,7 +419,7 @@ void NavEKF3_core::checkAttitudeAlignmentStatus()
 
     // submit yaw and magnetic field reset request
     if (!yawAlignComplete && tiltAlignComplete && use_compass()) {
-            magYawResetRequest = true;
+        magYawResetRequest = true;
     }
 
 }

libraries/AP_NavEKF3/AP_NavEKF3_core.cpp

@@ -1897,7 +1897,6 @@ void NavEKF3_core::setYawFromMag()
         return;
     }
 
-    //Vector3f magMeasNED = Tbn_zeroYaw * magDataDelayed.mag;
     Vector3f magMeasNED = Tbn_zeroYaw * magDataDelayed.mag;
     float yawAngMeasured = wrap_PI(-atan2f(magMeasNED.y, magMeasNED.x) + MagDeclination());