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AP_NavEKF3: use_compass minor order fixup

This commit is contained in:
Randy Mackay 2020-11-18 15:19:59 +09:00
parent b475f01b25
commit f88364d653
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
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@ -508,7 +508,6 @@ bool NavEKF3_core::readyToUseExtNav(void) const
// return true if we should use the compass
bool NavEKF3_core::use_compass(void) const
{
const auto *compass = dal.get_compass();
const AP_NavEKF_Source::SourceYaw yaw_source = frontend->sources.getYawSource();
if ((yaw_source != AP_NavEKF_Source::SourceYaw::COMPASS) &&
(yaw_source != AP_NavEKF_Source::SourceYaw::EXTERNAL_COMPASS_FALLBACK)) {
@ -516,6 +515,7 @@ bool NavEKF3_core::use_compass(void) const
return false;
}
const auto *compass = dal.get_compass();
return compass &&
compass->use_for_yaw(magSelectIndex) &&
!allMagSensorsFailed;