AP_AHRS: fix failure to arm when not using compass for yaw

2020-04-13 15:37:34 +10:00 · 2020-04-13 15:37:34 +10:00 · a66479104d
parent 6b6f083bf2
commit a66479104d
1 changed files with 1 additions and 0 deletions
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@ -2248,6 +2248,7 @@ bool AP_AHRS_NavEKF::is_ext_nav_used_for_yaw(void) const
    case EKFType::NONE:
 #if HAL_NAVEKF3_AVAILABLE
    case EKFType::THREE:
+        return EKF3.using_external_yaw();
 #endif
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
    case EKFType::SITL: