From cd5aae20c1c5478603fbbfb8ede3e6ac037168ca Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 9 May 2020 09:47:13 +1000 Subject: [PATCH] AP_NavEKF3: fixed scary message for non-compass planes --- libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp index d2510604cc..e575dce2ec 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp @@ -1498,7 +1498,7 @@ bool NavEKF3_core::EKFGSF_resetMainFilterYaw() EKFGSF_yaw_reset_ms = imuSampleTime_ms; EKFGSF_yaw_reset_count++; - if (effectiveMagCal == MagCal::GSF_YAW) { + if (effectiveMagCal == MagCal::GSF_YAW || AP::compass().get_num_enabled() == 0) { gcs().send_text(MAV_SEVERITY_INFO, "EKF3 IMU%u yaw aligned using GPS",(unsigned)imu_index); } else { gcs().send_text(MAV_SEVERITY_WARNING, "EKF3 IMU%u emergency yaw reset - mag sensor stopped",(unsigned)imu_index);