mirror of https://github.com/ArduPilot/ardupilot
AP_AHRS: use EKF use_compass() if EKF enabled
this allows magfailed status to show on console via SYS_STATUS health bits
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@ -166,6 +166,9 @@ bool AP_AHRS_NavEKF::airspeed_estimate(float *airspeed_ret) const
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// true if compass is being used
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// true if compass is being used
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bool AP_AHRS_NavEKF::use_compass(void)
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bool AP_AHRS_NavEKF::use_compass(void)
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{
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{
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if (using_EKF()) {
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return EKF.use_compass();
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}
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return AP_AHRS_DCM::use_compass();
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return AP_AHRS_DCM::use_compass();
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}
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}
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