From 28c4446eae7f04899c241cc388296886457e7898 Mon Sep 17 00:00:00 2001
From: TSC21 <n.marques21@hotmail.com>
Date: Mon, 15 Jun 2020 14:46:56 +0100
Subject: [PATCH] init.d-posix: if750a: add GPS blending

---
 ROMFS/px4fmu_common/init.d-posix/10020_if750a | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/ROMFS/px4fmu_common/init.d-posix/10020_if750a b/ROMFS/px4fmu_common/init.d-posix/10020_if750a
index c09b7bb644..608d76b02c 100644
--- a/ROMFS/px4fmu_common/init.d-posix/10020_if750a
+++ b/ROMFS/px4fmu_common/init.d-posix/10020_if750a
@@ -8,5 +8,10 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
+if [ $AUTOCNF = yes ]
+then
+	# EKF2: Multi GPS blending (as the model has 2 GPS's)
+	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
+fi
 
+set MIXER quad_x