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AP_NavEKF3: fixed switch to non-zero primary on disarm 

if EK3_PRIMARY is not zero then we were not switching to it when
disarmed
This commit is contained in:
Andrew Tridgell 2021-11-03 06:29:31 +11:00 committed by Randy Mackay
parent c857f889b3
commit fd6c9d476d
1 changed files with 1 additions and 1 deletions
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libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -965,7 +965,7 @@ void NavEKF3::UpdateFilter(void)
} }
const uint8_t user_primary = uint8_t(_primary_core) < num_cores? _primary_core : 0; const uint8_t user_primary = uint8_t(_primary_core) < num_cores? _primary_core : 0;
if (primary != 0 && core[user_primary].healthy() && !armed) { if (primary != user_primary && core[user_primary].healthy() && !armed) {
// when on the ground and disarmed force the selected primary // when on the ground and disarmed force the selected primary
// core. This avoids us ending with with a lottery for which // core. This avoids us ending with with a lottery for which
// IMU is used in each flight. Otherwise the alignment of the // IMU is used in each flight. Otherwise the alignment of the