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AP_NavEKF2: Don't return ready to use GPS true if user has inhibited GPS

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This commit is contained in:
Paul Riseborough 2015-11-06 09:43:45 +11:00
parent d6f7156f4e
commit f99dbc70f9
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
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@ -205,7 +205,7 @@ bool NavEKF2_core::optFlowDataPresent(void) const
// return true if the filter to be ready to use gps
bool NavEKF2_core::readyToUseGPS(void) const
{
return validOrigin && tiltAlignComplete && yawAlignComplete && gpsGoodToAlign;
return validOrigin && tiltAlignComplete && yawAlignComplete && gpsGoodToAlign && (frontend->_fusionModeGPS != 3);
}
// return true if we should use the compass