AP_NavEKF3: rewrite getLLH to avoid excessive indenting #20380
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I've had this one on the shelf for a very long time.
I rebased it again this morning and while fixing a conflict noted that in the case that we're doing the "default return is last recorded position" case we don't appear to be setting the altitude in the return object. Meaning the caller probably things we're at 0 AMSL and might choose to have the aircraft climb.
You're already pretty stuffed at this point, of course.
I'm not fixing that in this PR, but could add it in.