AP_NavEKF3: Don't use geomag data when user specifies declination

5 years ago · ad5ae1813d
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
@ -621,7 +621,7 @@ void NavEKF3_core::readGpsData()
				@@ -621,7 +621,7 @@ void NavEKF3_core::readGpsData()

            if (gpsGoodToAlign && !have_table_earth_field) {
                const Compass *compass = _ahrs->get_compass();
-                if (compass && compass->have_scale_factor(magSelectIndex)) {
+                if (compass && compass->have_scale_factor(magSelectIndex) && compass->auto_declination_enabled()) {
                    table_earth_field_ga = AP_Declination::get_earth_field_ga(gpsloc);
                    table_declination = radians(AP_Declination::get_declination(gpsloc.lat*1.0e-7,
                                                                            gpsloc.lng*1.0e-7));