From 67903a29e26a94b9506030bc4b71ca75e7ac3c69 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 2 May 2020 11:51:54 +0900
Subject: [PATCH] AP_NavEKF3: fix getLLH when no GPS

---
 libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
index 5a41c2dbaa..e9ccaa0b56 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
@@ -347,7 +347,11 @@ bool NavEKF3_core::getLLH(struct Location &loc) const
                 // if no GPS fix, provide last known position before entering the mode
                 loc.lat = EKF_origin.lat;
                 loc.lng = EKF_origin.lng;
-                loc.offset(lastKnownPositionNE.x, lastKnownPositionNE.y);
+                if (PV_AidingMode == AID_NONE) {
+                    loc.offset(lastKnownPositionNE.x, lastKnownPositionNE.y);
+                } else {
+                    loc.offset(outputDataNew.position.x, outputDataNew.position.y);
+                }
                 return false;
             }
         }