From 407a60e599c6a2cd1ef564f089b4e262af482cae Mon Sep 17 00:00:00 2001 From: priseborough Date: Mon, 30 Jan 2017 10:04:38 +1100 Subject: [PATCH] AP_NavEKF2: log correct GPS for replay --- libraries/AP_NavEKF2/AP_NavEKF2.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp index aaf3c9b51f..2821437625 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp @@ -585,7 +585,7 @@ void NavEKF2::check_log_write(void) logging.log_compass = false; } if (logging.log_gps) { - DataFlash_Class::instance()->Log_Write_GPS(_ahrs->get_gps(), 0, imuSampleTime_us); + DataFlash_Class::instance()->Log_Write_GPS(_ahrs->get_gps(), _ahrs->get_gps().primary_sensor(), imuSampleTime_us); logging.log_gps = false; } if (logging.log_baro) {