From f4591faeed29b49be27c0213335d9dde5bcdf53a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 5 Mar 2021 14:13:32 +1100
Subject: [PATCH] AP_NavEKF3: simplify taking of GPS measurements

---
 libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
index 52b3288d65..1f6bfb8f69 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
@@ -339,10 +339,7 @@ bool NavEKF3_core::getGPSLLH(struct Location &loc) const
 {
     const auto &gps = dal.gps();
     if ((gps.status(selected_gps) >= AP_DAL_GPS::GPS_OK_FIX_3D)) {
-        const struct Location &gpsloc = gps.location(selected_gps);
-        loc = gpsloc;
-        loc.relative_alt = 0;
-        loc.terrain_alt = 0;
+        loc = gps.location(selected_gps);
         return true;
     }
     return false;