From 8793c75da04a7aff4ef5090f3f6df74ef57c7832 Mon Sep 17 00:00:00 2001 From: priseborough Date: Mon, 11 Jul 2016 00:44:33 +1000 Subject: [PATCH] AP_NavEKF2: clean up mag field learned logic --- libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp index 31f8891c28..b3b5890319 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp @@ -269,12 +269,8 @@ void NavEKF2_core::SelectMagFusion() // If the final yaw reset has been performed and the state variances are sufficiently low // record that the earth field has been learned. - bool earthMagFieldConverged = false; if (!magFieldLearned && finalInflightMagInit) { - earthMagFieldConverged = (P[16][16] < sq(0.01f)) && (P[17][17] < sq(0.01f)) && (P[18][18] < sq(0.01f)); - } - if (magFieldLearned || earthMagFieldConverged) { - magFieldLearned = true; + magFieldLearned = (P[16][16] < sq(0.01f)) && (P[17][17] < sq(0.01f)) && (P[18][18] < sq(0.01f)); } // record the last learned field variances