From ac60901b0c6cde8d3f42c559e02d87123fe8dfda Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 21 Apr 2016 09:56:22 +1000
Subject: [PATCH] AP_NavEKF2: use vector comparison for new mag vector

---
 libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
index d7c5e24817..a91a7fc321 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
@@ -185,7 +185,7 @@ void NavEKF2_core::readMagData()
 
         // detect changes to magnetometer offset parameters and reset states
         Vector3f nowMagOffsets = _ahrs->get_compass()->get_offsets(magSelectIndex);
-        bool changeDetected = lastMagOffsetsValid && (!is_equal(nowMagOffsets.x,lastMagOffsets.x) || !is_equal(nowMagOffsets.y,lastMagOffsets.y) || !is_equal(nowMagOffsets.z,lastMagOffsets.z));
+        bool changeDetected = lastMagOffsetsValid && (nowMagOffsets != lastMagOffsets);
         if (changeDetected) {
             // zero the learned magnetometer bias states
             stateStruct.body_magfield.zero();