From a3725e25810dda5d91709f7c11ad7c3c58805245 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <priseborough@sypaq.com.au>
Date: Thu, 9 Apr 2020 09:57:51 +1000
Subject: [PATCH] AP_NavEKF3: Fix bug in calculation of rotation order

---
 libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
index b2d337bada..2cce3e4caf 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
@@ -287,7 +287,7 @@ void NavEKF3_core::SelectMagFusion()
                     // A 321 rotation order is best conditioned because the X axis is closer to horizontal than the Y axis
                     yawAngDataDelayed.yawAng = atan2f(prevTnb[0][1], prevTnb[0][0]);
                     yawAngDataDelayed.type = 2;
-                } else if (yawAngDataDelayed.type == 1) {
+                } else {
                     // A 312 rotation order is best conditioned because the Y axis is closer to horizontal than the X axis
                     yawAngDataDelayed.yawAng = atan2f(-prevTnb[0][1], prevTnb[1][1]);
                     yawAngDataDelayed.type = 1;