From d6c56b8f7aa942fc3ddbab3653e5d295d1ce6b01 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 1 Oct 2014 12:54:27 +1000
Subject: [PATCH] AP_NavEKF: make it clear that all sat counts are covered

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

diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index b5617f3aed..53763d2b2c 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -3099,7 +3099,7 @@ void NavEKF::readGpsData()
             gpsNoiseScaler = 1.0f;
         } else if (_ahrs->get_gps().num_sats() == 5) {
             gpsNoiseScaler = 1.4f;
-        } else if (_ahrs->get_gps().num_sats() <= 4) {
+        } else { // <= 4 satellites
             gpsNoiseScaler = 2.0f;
         }