From 889190d46e2e48bb625fbe7689eb3b4a2893366b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 2 Oct 2018 14:06:07 +1000
Subject: [PATCH] AP_NavEKF2: always set EKF control limits, even with no cores

---
 libraries/AP_NavEKF2/AP_NavEKF2.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index a9e1381b45..5b4352b612 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -896,6 +896,9 @@ void NavEKF2::getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainSca
 {
     if (core) {
         core[primary].getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler);
+    } else {
+        ekfGndSpdLimit = 400.0f; //return 80% of max filter speed
+        ekfNavVelGainScaler = 1.0f;
     }
 }