From 886a7d44a790338eeeabcd9c3e9dde947e35e9db Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 22 Aug 2020 10:40:30 +0900
Subject: [PATCH] AP_NavEKF3: allow switch to ExtNav from optflow

---
 libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
index e33cb54e64..99a04592c1 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
@@ -225,7 +225,7 @@ void NavEKF3_core::setAidingMode()
             bool bodyOdmFusionTimeout = ((imuSampleTime_ms - prevBodyVelFuseTime_ms) > 5000);
             // Enable switch to absolute position mode if GPS or range beacon data is available
             // If GPS or range beacons data is not available and flow fusion has timed out, then fall-back to no-aiding
-            if(readyToUseGPS() || readyToUseRangeBeacon()) {
+            if (readyToUseGPS() || readyToUseRangeBeacon() || readyToUseExtNav()) {
                 PV_AidingMode = AID_ABSOLUTE;
             } else if (flowFusionTimeout && bodyOdmFusionTimeout) {
                 PV_AidingMode = AID_NONE;