AP_NavEKF2: removed duplicate compass switch check

left over from last set of changes
2020-09-17 07:53:01 +10:00 · 2020-09-17 07:53:01 +10:00 · d6dcbda0d3
commit d6dcbda0d3
parent 1fce38c62a
1 changed files with 0 additions and 7 deletions
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
@ -269,13 +269,6 @@ void NavEKF2_core::readMagData()
        }
    }

-    // check for a failed compass and switch if failed for magFailTimeLimit_ms
-    if (maxCount > 1 &&
-        !compass.healthy(magSelectIndex) &&
-        imuSampleTime_ms - lastMagRead_ms > frontend->magFailTimeLimit_ms) {
-        tryChangeCompass();
-    }
-    
    // do not accept new compass data faster than 14Hz (nominal rate is 10Hz) to prevent high processor loading
    // because magnetometer fusion is an expensive step and we could overflow the FIFO buffer
    if (use_compass() &&