From 20f1603b73fa4647be226a539b62c776ec3c91ae Mon Sep 17 00:00:00 2001 From: Randy Mackay 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;