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AP_AHRS: fixed arming with no compass in plane 

allow arming if the GPS quality is good, the yaw alignment and
position will fix itself once the vehicle starts moving
This commit is contained in:
Andrew Tridgell 2018-07-14 10:11:23 +10:00
parent ac40a20c02
commit 63d385ffb1
1 changed files with 1 additions and 2 deletions
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3
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -1050,8 +1050,7 @@ AP_AHRS_NavEKF::EKF_TYPE AP_AHRS_NavEKF::active_EKF_type(void) const
accept EKF as healthy to allow arming. Once we reach
speed the EKF should get yaw alignment
*/
if (filt_state.flags.pred_horiz_pos_abs &&
filt_state.flags.pred_horiz_pos_rel) {
if (filt_state.flags.gps_quality_good) {
return ret;
}
}