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AP_NavEKF2: Remove redundant if statement 

Thank you to OXINARF for picking up this one
This commit is contained in:
Paul Riseborough 2015-11-06 17:35:12 +11:00
parent 0f8cfa02ab
commit f08a4af751
1 changed files with 5 additions and 8 deletions
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13
libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
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@ -437,14 +437,11 @@ void NavEKF2_core::readGpsData()
// Set the EKF origin and magnetic field declination if not previously set and GPS checks have passed
if (gpsGoodToAlign && !validOrigin) {
// Set the NE origin to the current GPS position if not previously set
if (!validOrigin) {
setOrigin();
// Now we know the location we have an estimate for the magnetic field declination and adjust the earth field accordingly
alignMagStateDeclination();
// Set the height of the NED origin to ‘height of baro height datum relative to GPS height datum'
EKF_origin.alt = gpsloc.alt - baroDataNew.hgt;
}
setOrigin();
// Now we know the location we have an estimate for the magnetic field declination and adjust the earth field accordingly
alignMagStateDeclination();
// Set the height of the NED origin to ‘height of baro height datum relative to GPS height datum'
EKF_origin.alt = gpsloc.alt - baroDataNew.hgt;
}
// convert GPS measurements to local NED and save to buffer to be fused later if we have a valid origin