From 6dfd2f2ff955b8021c96f58f86b75ef52729ae48 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 17 Dec 2020 11:47:13 +1100
Subject: [PATCH] AP_NavEKF3: use use_EKFGSFYaw to reduce code duplication

---
 libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
index 4960ae2a19..2392b81ced 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
@@ -1464,12 +1464,8 @@ bool NavEKF3_core::EKFGSF_resetMainFilterYaw()
         return false;
     };
 
-    float yawEKFGSF, yawVarianceEKFGSF, velInnovLength;
-    if (yawEstimator->getYawData(yawEKFGSF, yawVarianceEKFGSF) &&
-        is_positive(yawVarianceEKFGSF) &&
-        yawVarianceEKFGSF < sq(radians(GSF_YAW_ACCURACY_THRESHOLD_DEG)) &&
-        (assume_zero_sideslip() || (yawEstimator->getVelInnovLength(velInnovLength) && velInnovLength < frontend->maxYawEstVelInnov))) {
-
+    float yawEKFGSF, yawVarianceEKFGSF;
+    if (EKFGSF_getYaw(yawEKFGSF, yawVarianceEKFGSF)) {
         // keep roll and pitch and reset yaw
         rotationOrder order;
         bestRotationOrder(order);