ekf2: delete isYawResetAuthorized()

src/modules/ekf2/EKF/ekf.h

@@ -851,7 +851,6 @@ private:
 	float getTerrainVPos() const { return isTerrainEstimateValid() ? _terrain_vpos : _last_on_ground_posD; }
 
 	void runOnGroundYawReset();
-	bool isYawResetAuthorized() const { return !_is_yaw_fusion_inhibited; }
 	bool canResetMagHeading() const;
 	void runInAirYawReset(const Vector3f &mag);
 

src/modules/ekf2/EKF/mag_control.cpp

@@ -155,7 +155,7 @@ void Ekf::checkHaglYawResetReq()
 
 void Ekf::runOnGroundYawReset()
 {
-	if (_mag_yaw_reset_req && isYawResetAuthorized()) {
+	if (_mag_yaw_reset_req && !_is_yaw_fusion_inhibited) {
 		const bool has_realigned_yaw = canResetMagHeading() ? resetMagHeading() : false;
 
 		if (has_realigned_yaw) {
@@ -180,7 +180,7 @@ bool Ekf::canResetMagHeading() const
 
 void Ekf::runInAirYawReset(const Vector3f &mag_sample)
 {
-	if (_mag_yaw_reset_req && isYawResetAuthorized()) {
+	if (_mag_yaw_reset_req && !_is_yaw_fusion_inhibited) {
 		bool has_realigned_yaw = false;
 
 		if (_control_status.flags.gps && _control_status.flags.fixed_wing) {