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AP_NavEKF2: remove redundant check of beacon nullptr

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thanks to muramura for spotting this
This commit is contained in:
Randy Mackay 2016-12-01 14:52:47 +09:00
parent 08619a96be
commit fc5f4c20cd
1 changed files with 2 additions and 3 deletions
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libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
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@ -682,8 +682,7 @@ void NavEKF2_core::readRngBcnData()
} }
// check that the beacon is healthy and has new data // check that the beacon is healthy and has new data
if (beacon != nullptr && if (beacon->beacon_healthy(index) &&
beacon->beacon_healthy(index) &&
beacon->beacon_last_update_ms(index) != lastTimeRngBcn_ms[index]) beacon->beacon_last_update_ms(index) != lastTimeRngBcn_ms[index])
{ {
// set the timestamp, correcting for measurement delay and average intersampling delay due to the filter update rate // set the timestamp, correcting for measurement delay and average intersampling delay due to the filter update rate
@ -712,7 +711,7 @@ void NavEKF2_core::readRngBcnData()
} }
// Check if the beacon system has returned a 3D fix // Check if the beacon system has returned a 3D fix
if (beacon != nullptr && beacon->get_vehicle_position_ned(beaconVehiclePosNED, beaconVehiclePosErr)) { if (beacon->get_vehicle_position_ned(beaconVehiclePosNED, beaconVehiclePosErr)) {
rngBcnLast3DmeasTime_ms = imuSampleTime_ms; rngBcnLast3DmeasTime_ms = imuSampleTime_ms;
} }