AP_NavEKF3: use posxy_source in all places

libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp

@@ -471,7 +471,7 @@ void NavEKF3_core::SelectVelPosFusion()
         }
         velPosObs[3] = gpsDataDelayed.pos.x;
         velPosObs[4] = gpsDataDelayed.pos.y;
-    } else if (extNavDataToFuse && (PV_AidingMode == AID_ABSOLUTE) && (frontend->sources.getPosXYSource() == AP_NavEKF_Source::SourceXY::EXTNAV)) {
+    } else if (extNavDataToFuse && (PV_AidingMode == AID_ABSOLUTE) && (posxy_source == AP_NavEKF_Source::SourceXY::EXTNAV)) {
         // use external nav system for horizontal position
         extNavUsedForPos = true;
         fusePosData = true;
@@ -497,7 +497,7 @@ void NavEKF3_core::SelectVelPosFusion()
     selectHeightForFusion();
 
     // if we are using GPS, check for a change in receiver and reset position and height
-    if (gpsDataToFuse && (PV_AidingMode == AID_ABSOLUTE) && (frontend->sources.getPosXYSource() == AP_NavEKF_Source::SourceXY::GPS) && (gpsDataDelayed.sensor_idx != last_gps_idx || posxy_source_reset)) {
+    if (gpsDataToFuse && (PV_AidingMode == AID_ABSOLUTE) && (posxy_source == AP_NavEKF_Source::SourceXY::GPS) && (gpsDataDelayed.sensor_idx != last_gps_idx || posxy_source_reset)) {
         // mark a source reset as consumed
         posxy_source_reset = false;
 
@@ -514,7 +514,7 @@ void NavEKF3_core::SelectVelPosFusion()
     }
 
     // check for external nav position reset
-    if (extNavDataToFuse && (PV_AidingMode == AID_ABSOLUTE) && (frontend->sources.getPosXYSource() == AP_NavEKF_Source::SourceXY::EXTNAV) && (extNavDataDelayed.posReset || posxy_source_reset)) {
+    if (extNavDataToFuse && (PV_AidingMode == AID_ABSOLUTE) && (posxy_source == AP_NavEKF_Source::SourceXY::EXTNAV) && (extNavDataDelayed.posReset || posxy_source_reset)) {
         // mark a source reset as consumed
         posxy_source_reset = false;
         ResetPositionNE(extNavDataDelayed.pos.x, extNavDataDelayed.pos.y);