From cb595709386196d01f1992f5e4dafb7b4934edcc Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Sat, 9 May 2015 14:01:27 +1000
Subject: [PATCH] AP_NavEKF: Remove bug preventing external selection of
 optical flow mode

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

diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 44c3ea439d..78d65424de 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -3700,11 +3700,11 @@ uint8_t NavEKF::setInhibitGPS(void)
         return 0;
     }
     if (optFlowDataPresent()) {
+        _fusionModeGPS = 3;
         return 2;
     } else {
         return 1;
     }
-    _fusionModeGPS = 3;
 }
 
 // return the horizontal speed limit in m/s set by optical flow sensor limits