From 19785c10330816145613388ed127c12c4a723631 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p-riseborough@live.com.au>
Date: Sat, 17 Oct 2015 17:00:32 +1100
Subject: [PATCH] Copter: Access EKF origin through AHRS object

Enables EKF2 use
---
 ArduCopter/ekf_check.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/ekf_check.cpp b/ArduCopter/ekf_check.cpp
index 152344371b..aeb758fc62 100644
--- a/ArduCopter/ekf_check.cpp
+++ b/ArduCopter/ekf_check.cpp
@@ -32,7 +32,7 @@ void Copter::ekf_check()
 {
     // exit immediately if ekf has no origin yet - this assumes the origin can never become unset
     Location temp_loc;
-    if (!ahrs.get_NavEKF_const().getOriginLLH(temp_loc)) {
+    if (!ahrs.get_origin(temp_loc)) {
         return;
     }