From 6ace31b6c10d1c629abadf85caae4c41fd07ee63 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Sun, 9 Mar 2014 19:14:37 +1100
Subject: [PATCH] AP_NavEKF : Fix bug that leaves height unconstrained in
 static mode

---
 libraries/AP_NavEKF/AP_NavEKF.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 82ff01808d..4bfd3aa29f 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -618,7 +618,7 @@ void NavEKF::SelectVelPosFusion()
         // we only fuse position and height in static mode
         fuseVelData = false;
         fusePosData = true;
-        fusePosData = true;
+        fuseHgtData = true;
     }
 
     // Perform fusion if conditions are met