AP_AHRS: do not fallback to DCM if EKF can provide relative position

8 years ago · 3e130273a9
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@ -1003,7 +1003,7 @@ AP_AHRS_NavEKF::EKF_TYPE AP_AHRS_NavEKF::active_EKF_type(void) const
				@@ -1003,7 +1003,7 @@ AP_AHRS_NavEKF::EKF_TYPE AP_AHRS_NavEKF::active_EKF_type(void) const
            return EKF_TYPE_NONE;
        }
        if (!filt_state.flags.horiz_vel ||
-            !filt_state.flags.horiz_pos_abs) {
+            (!filt_state.flags.horiz_pos_abs && !filt_state.flags.horiz_pos_rel)) {
            if ((!_compass || !_compass->use_for_yaw()) &&
                _gps.status() >= AP_GPS::GPS_OK_FIX_3D &&
                _gps.ground_speed() < 2) {