forked from Archive/PX4-Autopilot
EKF/control: remove unnecessary yaw_align update
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@ -548,7 +548,6 @@ void Ekf::controlGpsFusion()
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// Do not use external vision for yaw if using GPS because yaw needs to be
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// defined relative to an NED reference frame
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if (!_control_status.flags.yaw_align || _control_status.flags.ev_yaw || _mag_inhibit_yaw_reset_req) {
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_control_status.flags.yaw_align = false;
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_control_status.flags.ev_yaw = false;
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_control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag);
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// Handle the special case where we have not been constraining yaw drift or learning yaw bias due
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