From 5fd006ca482a32aad16d12994065d98e5ffc7b10 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Sat, 11 Nov 2017 07:06:01 +1100
Subject: [PATCH] EKF: remove redundant code

---
 EKF/control.cpp | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/EKF/control.cpp b/EKF/control.cpp
index 086bc573ac..ebab5eec8c 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -167,12 +167,6 @@ void Ekf::controlExternalVisionFusion()
 				} else {
 					resetPosition();
 					resetVelocity();
-					// we cannot use an absolue position from a rotating reference frame
-					if (_params.fusion_mode & MASK_ROTATE_EV) {
-						_fuse_hpos_as_odom = true;
-					} else {
-						_fuse_hpos_as_odom = false;
-					}
 
 				}
 			}