From 2db2486b3a7d208f001a65379a77846aa5f843b8 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 19 Jun 2016 22:02:25 +1000 Subject: [PATCH] AP_AHRS: send zero EKF_STATUS_REPORT with EKF type 10 --- libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp index 93d570b89e..d17bd54148 100644 --- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp +++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp @@ -1117,6 +1117,13 @@ void AP_AHRS_NavEKF::send_ekf_status_report(mavlink_channel_t chan) return EKF1.send_status_report(chan); #endif +#if CONFIG_HAL_BOARD == HAL_BOARD_SITL + case EKF_TYPE_SITL: + // send zero status report + mavlink_msg_ekf_status_report_send(chan, 0, 0, 0, 0, 0, 0); + break; +#endif + case EKF_TYPE2: default: return EKF2.send_status_report(chan);