From 09c969477ff66c39c6ee3163eea6bed5ab065e2c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 22 Jan 2017 13:39:54 +1100
Subject: [PATCH] AP_AHRS: fixed fallback to DCM for get_position

this fixes dead-reckoning on fixed wing on GPS loss, and fallback to
DCM on loss of EKF position in fixed wing

This was broken by the EKF3 merge
---
 libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index 1834e6bf3f..ec6703a6bf 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -323,7 +323,7 @@ bool AP_AHRS_NavEKF::get_position(struct Location &loc) const
     Location origin;
     switch (active_EKF_type()) {
     case EKF_TYPE_NONE:
-        return false;
+        return AP_AHRS_DCM::get_position(loc);
 
     case EKF_TYPE2:
         if (EKF2.getLLH(loc) && EKF2.getPosD(-1,ned_pos.z) && EKF2.getOriginLLH(origin)) {