From 10a0fef7b7db749f5baf3384e9c900d3aa0e8140 Mon Sep 17 00:00:00 2001
From: "jie.zhang" <1317674293@qq.com>
Date: Thu, 18 Oct 2018 03:50:00 +0800
Subject: [PATCH] EKF/control: remove unnecessary yaw_align update

---
 EKF/control.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/EKF/control.cpp b/EKF/control.cpp
index a2a00733a2..0db174f680 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -548,7 +548,6 @@ void Ekf::controlGpsFusion()
 				// Do not use external vision for yaw if using GPS because yaw needs to be
 				// defined relative to an NED reference frame
 				if (!_control_status.flags.yaw_align || _control_status.flags.ev_yaw || _mag_inhibit_yaw_reset_req) {
-					_control_status.flags.yaw_align = false;
 					_control_status.flags.ev_yaw = false;
 					_control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag);
 					// Handle the special case where we have not been constraining yaw drift or learning yaw bias due