From 20f1603b73fa4647be226a539b62c776ec3c91ae Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 17 Dec 2020 17:11:38 +0900
Subject: [PATCH] AP_NavEKF: source skips compass pre-arm check

---
 libraries/AP_NavEKF/AP_NavEKF_Source.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_NavEKF/AP_NavEKF_Source.cpp b/libraries/AP_NavEKF/AP_NavEKF_Source.cpp
index b7802e9009..f3cd43614e 100644
--- a/libraries/AP_NavEKF/AP_NavEKF_Source.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF_Source.cpp
@@ -407,6 +407,8 @@ bool AP_NavEKF_Source::pre_arm_check(char *failure_msg, uint8_t failure_msg_len)
             // valid yaw value
             break;
         case SourceYaw::COMPASS:
+            // skip compass check for easier user setup of compass-less operation
+            break;
         case SourceYaw::EXTERNAL_COMPASS_FALLBACK:
             compass_required = true;
             break;