From 8124c3fea8309fa50624cc558cd58ca5200970fd Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Mon, 23 Nov 2020 09:22:37 +1100 Subject: [PATCH] AP_NavEKF_Source: set compass_required if we require a compass --- libraries/AP_NavEKF/AP_NavEKF_Source.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/libraries/AP_NavEKF/AP_NavEKF_Source.cpp b/libraries/AP_NavEKF/AP_NavEKF_Source.cpp index 7cd6a02d30..73b2b1dc90 100644 --- a/libraries/AP_NavEKF/AP_NavEKF_Source.cpp +++ b/libraries/AP_NavEKF/AP_NavEKF_Source.cpp @@ -417,11 +417,13 @@ bool AP_NavEKF_Source::pre_arm_check(char *failure_msg, uint8_t failure_msg_len) // check yaw switch ((SourceYaw)_source_set[i].yaw.get()) { case SourceYaw::NONE: - case SourceYaw::COMPASS: case SourceYaw::EXTERNAL: - case SourceYaw::EXTERNAL_COMPASS_FALLBACK: // valid yaw value break; + case SourceYaw::COMPASS: + case SourceYaw::EXTERNAL_COMPASS_FALLBACK: + compass_required = true; + break; default: // invalid yaw value hal.util->snprintf(failure_msg, failure_msg_len, "Check EK3_SRC%d_YAW", (int)i+1);