From ada7d4fb98353524b552f6bef17b4f46f12cb3df Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 4 Jan 2014 15:21:24 +1100
Subject: [PATCH] AP_AHRS: use the right DCM matrix when EKF not enabled

---
 libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index 364df549cb..ebbd375414 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -33,7 +33,7 @@ const Vector3f AP_AHRS_NavEKF::get_gyro(void) const
 
 const Matrix3f &AP_AHRS_NavEKF::get_dcm_matrix(void) const
 {
-    if (!ekf_started) {
+    if (!using_EKF()) {
         return AP_AHRS_DCM::get_dcm_matrix();
     }
     return _dcm_matrix;