From fba02479b78a08a2d5089022cc6d9c1e6371e236 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 6 Dec 2014 18:43:38 +1100
Subject: [PATCH] Copter: fixed build with no EKF

---
 ArduCopter/flight_mode.pde | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/ArduCopter/flight_mode.pde b/ArduCopter/flight_mode.pde
index 879b7f9899..2c209d725c 100644
--- a/ArduCopter/flight_mode.pde
+++ b/ArduCopter/flight_mode.pde
@@ -120,8 +120,10 @@ static bool set_mode(uint8_t mode)
 // called at 100hz or more
 static void update_flight_mode()
 {
+#if AP_AHRS_NAVEKF_AVAILABLE
     // Update EKF speed limit - used to limit speed when we are using optical flow
     ahrs.getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler);
+#endif
     switch (control_mode) {
         case ACRO:
             #if FRAME_CONFIG == HELI_FRAME