From 2a5e9f76ac175320c636501f4a694388c791de0a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 10 May 2022 11:28:33 +1000
Subject: [PATCH] AP_Compass: do not use GSF if any model has been clipped

---
 libraries/AP_Compass/Compass_learn.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Compass/Compass_learn.cpp b/libraries/AP_Compass/Compass_learn.cpp
index a9b3e9683c..4ccda4f3be 100644
--- a/libraries/AP_Compass/Compass_learn.cpp
+++ b/libraries/AP_Compass/Compass_learn.cpp
@@ -51,8 +51,10 @@ void CompassLearn::update(void)
     AP_Notify::flags.compass_cal_running = true;
 
     ftype yaw_rad, yaw_variance;
-    if (!gsf->getYawData(yaw_rad, yaw_variance) ||
+    uint8_t n_clips;
+    if (!gsf->getYawData(yaw_rad, yaw_variance, &n_clips) ||
         !is_positive(yaw_variance) ||
+        n_clips > 1 ||
         yaw_variance >= sq(radians(YAW_ACCURACY_THRESHOLD_DEG))) {
         // not converged
         return;