Revert if statement swap in resetMagHeading

EKF/ekf_helper.cpp

@@ -592,18 +592,18 @@ bool Ekf::resetMagHeading(const Vector3f &mag_init, bool increase_yaw_var, bool
 		Dcmf R_to_earth(euler321);
 
 		// calculate the observed yaw angle
-		if (_params.mag_fusion_type <= MAG_FUSE_TYPE_3D) {
-			// rotate the magnetometer measurements into earth frame using a zero yaw angle
-			Vector3f mag_earth_pred = R_to_earth * mag_init;
-			// the angle of the projection onto the horizontal gives the yaw angle
-			euler321(2) = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination();
-
-		} else if (_control_status.flags.ev_yaw) {
+		if (_control_status.flags.ev_yaw) {
 			// convert the observed quaternion to a rotation matrix
 			Dcmf R_to_earth_ev(_ev_sample_delayed.quat);	// transformation matrix from body to world frame
 			// calculate the yaw angle for a 312 sequence
 			euler321(2) = atan2f(R_to_earth_ev(1, 0), R_to_earth_ev(0, 0));
 
+		} else if (_params.mag_fusion_type <= MAG_FUSE_TYPE_3D) {
+			// rotate the magnetometer measurements into earth frame using a zero yaw angle
+			Vector3f mag_earth_pred = R_to_earth * mag_init;
+			// the angle of the projection onto the horizontal gives the yaw angle
+			euler321(2) = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination();
+
 		} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_INDOOR && _mag_use_inhibit) {
 			// we are operating without knowing the earth frame yaw angle
 			return true;
@@ -650,18 +650,18 @@ bool Ekf::resetMagHeading(const Vector3f &mag_init, bool increase_yaw_var, bool
 		R_to_earth(2, 1) = s1;
 
 		// calculate the observed yaw angle
-		if (_params.mag_fusion_type <= MAG_FUSE_TYPE_3D) {
-			// rotate the magnetometer measurements into earth frame using a zero yaw angle
-			Vector3f mag_earth_pred = R_to_earth * mag_init;
-			// the angle of the projection onto the horizontal gives the yaw angle
-			euler312(0) = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination();
-
-		} else if (_control_status.flags.ev_yaw) {
+		if (_control_status.flags.ev_yaw) {
 			// convert the observed quaternion to a rotation matrix
 			Dcmf R_to_earth_ev(_ev_sample_delayed.quat);	// transformation matrix from body to world frame
 			// calculate the yaw angle for a 312 sequence
 			euler312(0) = atan2f(-R_to_earth_ev(0, 1), R_to_earth_ev(1, 1));
 
+		} else if (_params.mag_fusion_type <= MAG_FUSE_TYPE_3D) {
+			// rotate the magnetometer measurements into earth frame using a zero yaw angle
+			Vector3f mag_earth_pred = R_to_earth * mag_init;
+			// the angle of the projection onto the horizontal gives the yaw angle
+			euler312(0) = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination();
+
 		} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_INDOOR && _mag_use_inhibit) {
 			// we are operating without knowing the earth frame yaw angle
 			return true;