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AP_AHRS: modify AHRS type check for compass-less setups

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Henry Wurzburg 2022-08-04 22:14:11 -05:00 committed by Peter Barker
parent 821053e580
commit a5b373e912
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_AHRS/AP_AHRS.cpp
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@ -2091,8 +2091,8 @@ bool AP_AHRS::pre_arm_check(bool requires_position, char *failure_msg, uint8_t f
return false; return false;
} }
// ensure we're using the configured backend: // ensure we're using the configured backend, but bypass in compass-less cases:
if (ekf_type() != active_EKF_type()) { if (ekf_type() != active_EKF_type() && AP::compass().use_for_yaw()) {
hal.util->snprintf(failure_msg, failure_msg_len, "AHRS: not using configured AHRS type"); hal.util->snprintf(failure_msg, failure_msg_len, "AHRS: not using configured AHRS type");
return false; return false;
} }