From 1c98e2063c1786e8ea3ae8221889e8d7fea98bab Mon Sep 17 00:00:00 2001
From: Willian Galvani <williangalvani@gmail.com>
Date: Thu, 25 Jan 2024 14:02:39 -0300
Subject: [PATCH] AP_Compass: allow learning with origin only

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

diff --git a/libraries/AP_Compass/Compass_learn.cpp b/libraries/AP_Compass/Compass_learn.cpp
index e93cafdadc..1e8d0cc854 100644
--- a/libraries/AP_Compass/Compass_learn.cpp
+++ b/libraries/AP_Compass/Compass_learn.cpp
@@ -49,7 +49,7 @@ void CompassLearn::update(void)
     const AP_AHRS &ahrs = AP::ahrs();
     if (!have_earth_field) {
         Location loc;
-        if (!ahrs.get_position(loc)) {
+        if (!ahrs.get_position(loc) && !ahrs.get_origin(loc)) {
             // need to wait till we have a global position
             return;
         }