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AP_NavEKF3: 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The original reason for using a different method for the second core is no longer valid.
This commit is contained in:
priseborough 2017-02-15 10:36:21 +11:00 committed by Francisco Ferreira
parent a1d41edc4e
commit ccb952ba31
1 changed files with 0 additions and 5 deletions
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libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
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@ -45,11 +45,6 @@ void NavEKF3_core::controlFilterModes()
*/ */
uint8_t NavEKF3_core::effective_magCal(void) const uint8_t NavEKF3_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; return frontend->_magCal;
} }