From 16c9023cf0df27845ee528105994b1295aabbaf4 Mon Sep 17 00:00:00 2001
From: stefanlynka <stefanlynka@yahoo.ca>
Date: Thu, 14 Jul 2016 17:12:17 +0900
Subject: [PATCH] Tracker: update how current_loc gets location

Get position from EKF but fall back to GPS if that fails
---
 AntennaTracker/tracking.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/AntennaTracker/tracking.cpp b/AntennaTracker/tracking.cpp
index 4121ffa2ce..691423d976 100644
--- a/AntennaTracker/tracking.cpp
+++ b/AntennaTracker/tracking.cpp
@@ -35,7 +35,7 @@ void Tracker::update_tracker_position()
 {
     // update our position if we have at least a 2D fix
     // REVISIT: what if we lose lock during a mission and the antenna is moving?
-    if (gps.status() >= AP_GPS::GPS_OK_FIX_2D) {
+    if (!ahrs.get_position(current_loc) && (gps.status() >= AP_GPS::GPS_OK_FIX_2D)) {
         current_loc = gps.location();
     }
 }