From 9bd3a7249ad1d299cd32b7e0a42f569b787914aa Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 9 Feb 2015 21:38:09 +0900
Subject: [PATCH] Copter: disable inertial nav

---
 ArduCopter/system.pde | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index f09e1d165c..1ec1fab184 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -333,10 +333,8 @@ static bool position_ok()
             return (filt_status.flags.horiz_pos_abs && !filt_status.flags.const_pos_mode);
         }
     } else {
-        // with interial nav use GPS based checks
-        return (home_is_set() && gps.status() >= AP_GPS::GPS_OK_FIX_3D &&
-                !gps_glitch.glitching() && !failsafe.gps &&
-                !ekf_check_state.bad_compass && !failsafe.ekf);
+        // do not allow navigation with older inertial nav
+        return false;
     }
 }