From 22fd2025de26779ba7c19072dbbc04b7eb0e3e35 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 21 Dec 2016 10:52:12 +1100
Subject: [PATCH] AP_AHRS: fixed EKF type 10

---
 libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index 4714f5198a..6749f9ba7b 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -740,6 +740,11 @@ bool AP_AHRS_NavEKF::get_relative_position_D(float &posD) const
 uint8_t AP_AHRS_NavEKF::ekf_type(void) const
 {
     uint8_t type = _ekf_type;
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    if (type == EKF_TYPE_SITL) {
+        return type;
+    }
+#endif
     if ((always_use_EKF() && (type == 0)) || (type == 1) || (type > 3))  {
         type = 2;
     }