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AP_AHRS: do not fallback to DCM if EKF can provide relative position

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This commit is contained in:
Randy Mackay 2017-06-06 18:29:23 +09:00
parent a07920c5b2
commit 3e130273a9
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -1003,7 +1003,7 @@ AP_AHRS_NavEKF::EKF_TYPE AP_AHRS_NavEKF::active_EKF_type(void) const
return EKF_TYPE_NONE;
}
if (!filt_state.flags.horiz_vel ||
!filt_state.flags.horiz_pos_abs) {
(!filt_state.flags.horiz_pos_abs && !filt_state.flags.horiz_pos_rel)) {
if ((!_compass || !_compass->use_for_yaw()) &&
_gps.status() >= AP_GPS::GPS_OK_FIX_3D &&
_gps.ground_speed() < 2) {