From 4cca1c307c3adf3e8f5677714afcd5dcc4606611 Mon Sep 17 00:00:00 2001
From: Siddharth Purohit <siddharthbharatpurohit@gmail.com>
Date: Wed, 20 Nov 2019 13:27:03 +0800
Subject: [PATCH] AP_NavEKF2: Primary compass is always at serial number 0

---
 libraries/AP_NavEKF2/AP_NavEKF2_core.cpp | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
index 361ff83362..06f1a88f47 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
@@ -359,9 +359,7 @@ void NavEKF2_core::InitialiseVariablesMag()
 
     inhibitMagStates = true;
 
-    if (_ahrs->get_compass()) {
-        magSelectIndex = _ahrs->get_compass()->get_primary();
-    }
+    magSelectIndex = 0;
     lastMagOffsetsValid = false;
     magStateResetRequest = false;
     magStateInitComplete = false;