From a1d41edc4e181744eaaf41bf1628e44c3257519a Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Wed, 15 Feb 2017 10:36:07 +1100
Subject: [PATCH] AP_NavEKF2: Use the same mag fusion method for all cores

The original reason for using a different method for the second core is no longer valid.
---
 libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
index 8e2fb32626..368012afb4 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
@@ -45,11 +45,6 @@ void NavEKF2_core::controlFilterModes()
  */
 uint8_t NavEKF2_core::effective_magCal(void) const
 {
-    // if we are on the 2nd core and _magCal is 3 then treat it as
-    // 2. This is a workaround for a mag fusion problem
-    if (frontend->_magCal ==3 && imu_index == 1) {
-        return 2;
-    }
     return frontend->_magCal;
 }