From f857eb4640480e3417910db2f81770b8217133f4 Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Fri, 6 Sep 2019 17:13:19 -0700
Subject: [PATCH] AP_GPS: Take responsibility for logging the GPS if the EKF
 wants logging

---
 libraries/AP_GPS/AP_GPS.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index bb924d402b..bbcd0f1ffb 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -695,8 +695,7 @@ void AP_GPS::update_instance(uint8_t instance)
 
 #ifndef HAL_BUILD_AP_PERIPH
     if (data_should_be_logged &&
-        should_log() &&
-        !AP::ahrs().have_ekf_logging()) {
+        (should_log() || AP::ahrs().have_ekf_logging())) {
         AP::logger().Write_GPS(instance);
     }