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mag reset: do not stop the fusion from inside the reset function 

The start/stop is already handled in the dedicated mag control logic
The early return is not required as this case is handled just below
This commit is contained in:
bresch 2021-05-11 12:02:18 +02:00 committed by Paul Riseborough
parent 6248646bff
commit cadcc58415
1 changed files with 0 additions and 5 deletions
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5
EKF/ekf_helper.cpp
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@ -487,11 +487,6 @@ bool Ekf::resetMagHeading(const Vector3f &mag_init, bool increase_yaw_var, bool
return true;
}
if (_params.mag_fusion_type >= MAG_FUSE_TYPE_NONE) {
stopMagFusion();
return false;
}
// calculate the observed yaw angle and yaw variance
float yaw_new;
float yaw_new_variance = 0.0f;