From 4f19d457c40eb14237f9299cf50b44488541b1f4 Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Wed, 31 Jul 2019 17:41:56 +0200
Subject: [PATCH] ekf, control: make sure mag fusion doesn't start anymore when
 we have GPS heading fusion active

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

diff --git a/EKF/control.cpp b/EKF/control.cpp
index aa5ae33cad..4c2ab0d986 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -1384,7 +1384,7 @@ void Ekf::controlMagFusion()
 
 	// check for new magnetometer data that has fallen behind the fusion time horizon
 	// If we are using external vision data for heading then no magnetometer fusion is used
-	if (!_control_status.flags.ev_yaw && _mag_data_ready) {
+	if (!_control_status.flags.ev_yaw && !_control_status.flags.gps_yaw && _mag_data_ready) {
 
 		// We need to reset the yaw angle after climbing away from the ground to enable
 		// recovery from ground level magnetic interference.