AP_AHRS: fixed EKF type 10

2016-12-21 10:52:12 +11:00 · 2016-12-21 10:52:12 +11:00 · 22fd2025de
parent 372837b959
commit 22fd2025de
1 changed files with 5 additions and 0 deletions
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@ -740,6 +740,11 @@ bool AP_AHRS_NavEKF::get_relative_position_D(float &posD) const
 uint8_t AP_AHRS_NavEKF::ekf_type(void) const
 {
    uint8_t type = _ekf_type;
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    if (type == EKF_TYPE_SITL) {
+        return type;
+    }
+#endif
    if ((always_use_EKF() && (type == 0)) || (type == 1) || (type > 3))  {
        type = 2;
    }