From 17a45b2c44cc53b6d8db4ff04ecc44b8065fdde3 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 11 May 2020 19:38:53 +1000
Subject: [PATCH] AP_NavEKF2: fixes for new compass API

---
 libraries/AP_NavEKF2/AP_NavEKF2_core.cpp | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
index 361ff83362..06f1a88f47 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
@@ -359,9 +359,7 @@ void NavEKF2_core::InitialiseVariablesMag()
 
     inhibitMagStates = true;
 
-    if (_ahrs->get_compass()) {
-        magSelectIndex = _ahrs->get_compass()->get_primary();
-    }
+    magSelectIndex = 0;
     lastMagOffsetsValid = false;
     magStateResetRequest = false;
     magStateInitComplete = false;