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AP_AHRS: send ekf status reports even when EKF inactive

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Peter Barker 2017-09-01 17:43:03 +10:00 committed by Andrew Tridgell
parent be371e09f9
commit 97b6ca218b
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -1381,7 +1381,7 @@ bool AP_AHRS_NavEKF::resetHeightDatum(void)
// send a EKF_STATUS_REPORT for current EKF // send a EKF_STATUS_REPORT for current EKF
void AP_AHRS_NavEKF::send_ekf_status_report(mavlink_channel_t chan) void AP_AHRS_NavEKF::send_ekf_status_report(mavlink_channel_t chan)
{ {
switch (active_EKF_type()) { switch (ekf_type()) {
case EKF_TYPE_NONE: case EKF_TYPE_NONE:
// send zero status report // send zero status report
mavlink_msg_ekf_status_report_send(chan, 0, 0, 0, 0, 0, 0); mavlink_msg_ekf_status_report_send(chan, 0, 0, 0, 0, 0, 0);