AP_NavEKF3: log correct GPS for replay

8 years ago · 18927395d7
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
@ -583,7 +583,7 @@ void NavEKF3::check_log_write(void)
        logging.log_compass = false;
    }
    if (logging.log_gps) {
-        DataFlash_Class::instance()->Log_Write_GPS(_ahrs->get_gps(), 0, imuSampleTime_us);
+        DataFlash_Class::instance()->Log_Write_GPS(_ahrs->get_gps(), _ahrs->get_gps().primary_sensor(), imuSampleTime_us);
        logging.log_gps = false;
    }
    if (logging.log_baro) {