From 14265d95802acc9409c879852869fc75c317113f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 5 Jul 2019 12:40:48 +1000
Subject: [PATCH] AP_NavEKF2: don't use disabled gyros in opticalflow takeoff
 detection

---
 libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
index f90d04e456..62c14dc805 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
@@ -456,7 +456,7 @@ void NavEKF2_core::detectOptFlowTakeoff(void)
         Vector3f angRateVec;
         Vector3f gyroBias;
         getGyroBias(gyroBias);
-        bool dual_ins = ins.get_gyro_health(0) && ins.get_gyro_health(1);
+        bool dual_ins = ins.use_gyro(0) && ins.use_gyro(1);
         if (dual_ins) {
             angRateVec = (ins.get_gyro(0) + ins.get_gyro(1)) * 0.5f - gyroBias;
         } else {