From de406da254a44e53ce903751af2a5e4ddce87db3 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 18 Sep 2017 17:22:51 +0900
Subject: [PATCH] Rover: set home using EKF position

previously the home position could be set from DCM
This makes the setting of home slower but more accurate
---
 APMrover2/commands.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/APMrover2/commands.cpp b/APMrover2/commands.cpp
index 08207e27b4..8a326f511e 100644
--- a/APMrover2/commands.cpp
+++ b/APMrover2/commands.cpp
@@ -17,7 +17,7 @@ bool Rover::set_home_to_current_location(bool lock)
 {
     // use position from EKF if available otherwise use GPS
     Location temp_loc;
-    if (ahrs.get_position(temp_loc)) {
+    if (ahrs.have_inertial_nav() && ahrs.get_position(temp_loc)) {
         return set_home(temp_loc, lock);
     }
     return false;