From 34a508bfd8b7fcdc83f9230b6b8e0dda5ff1a124 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 20 Sep 2023 17:22:07 +1000
Subject: [PATCH] AP_VisualOdom: visualodom requires DCM to work

---
 libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp b/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp
index 8f368817e3..ebec6eebdd 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp
@@ -143,7 +143,11 @@ bool AP_VisualOdom_IntelT265::align_yaw_to_ahrs(const Vector3f &position, const
     }
 
     // do not align until ahrs yaw initialised
-    if (!AP::ahrs().initialised() || !AP::ahrs().dcm_yaw_initialised()) {
+    if (!AP::ahrs().initialised()
+#if AP_AHRS_DCM_ENABLED
+        || !AP::ahrs().dcm_yaw_initialised()
+#endif
+        ) {
         return false;
     }