From 4889e8432ce838d70b9fe0355cdf313c91c50e35 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Tue, 15 May 2018 10:28:00 +1000
Subject: [PATCH] EKF: Don't fuse multi rotor drag if yaw angle is bad

---
 EKF/control.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/EKF/control.cpp b/EKF/control.cpp
index 3300bef2ae..70779b4c11 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -1199,7 +1199,8 @@ void Ekf::controlBetaFusion()
 void Ekf::controlDragFusion()
 {
 	if (_params.fusion_mode & MASK_USE_DRAG) {
-		if (_control_status.flags.in_air) {
+		if (_control_status.flags.in_air
+				&& !_mag_inhibit_yaw_reset_req) {
 			if (!_control_status.flags.wind) {
 				// reset the wind states and covariances when starting drag accel fusion
 				_control_status.flags.wind = true;