AP_NavEKF3: simplify taking of GPS measurements

4 years ago · f4591faeed
1 changed files with 1 additions and 4 deletions
--- 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 = gps.location(selected_gps);
        loc = gpsloc;
        loc.relative_alt = 0;
        loc.terrain_alt = 0;
        return true;
    }
    return false;