AP_AHRS: get_position obeys always_use_EKF

Co-Authored-By: WickedShell <Wicked.Shell.Scripts@gmail.com>
2020-04-24 18:36:46 +09:00 · 2020-04-24 18:36:46 +09:00 · 2ae31f9d76
commit 2ae31f9d76
parent 0f92cb9168
1 changed files with 6 additions and 2 deletions
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@ -489,7 +489,12 @@ bool AP_AHRS_NavEKF::get_position(struct Location &loc) const
    }
 #endif
    }
-    return AP_AHRS_DCM::get_position(loc);
+
+    // fall back to position from DCM
+    if (!always_use_EKF()) {
+        return AP_AHRS_DCM::get_position(loc);
+    }
+    return false;
 }

 // status reporting of estimated errors
@ -2286,4 +2291,3 @@ bool AP_AHRS_NavEKF::is_ext_nav_used_for_yaw(void) const
 }

 #endif // AP_AHRS_NAVEKF_AVAILABLE
-