From fad42e8c9c6cd1868124aa717eb0d5c044fda29a Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir.emn@gmail.com>
Date: Wed, 11 Aug 2021 00:33:49 +0200
Subject: [PATCH] AP_InertialSensor: fix externalAHRS detection

        'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
---
 libraries/AP_InertialSensor/AP_InertialSensor.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 1d913aa512..68663a9e24 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -938,7 +938,8 @@ AP_InertialSensor::detect_backends(void)
 
 #if HAL_EXTERNAL_AHRS_ENABLED
     // if enabled, make the first IMU the external AHRS
-    if (int8_t serial_port = AP::externalAHRS().get_port() >= 0) {
+    const int8_t serial_port = AP::externalAHRS().get_port();
+    if (serial_port >= 0) {
         ADD_BACKEND(new AP_InertialSensor_ExternalAHRS(*this, serial_port));
     }
 #endif