Copter: fix ekf check to always call mode_requires_gps

8 years ago · f3a035694a
1 changed files with 1 additions and 1 deletions
--- a/ArduCopter/ekf_check.cpp
+++ b/ArduCopter/ekf_check.cpp
@ -129,7 +129,7 @@ void Copter::failsafe_ekf_event()
				@@ -129,7 +129,7 @@ void Copter::failsafe_ekf_event()
    }

    // do nothing if not in GPS flight mode and ekf-action is not land-even-stabilize
-    if (!mode_requires_GPS(control_mode) && (control_mode != LAND) && (g.fs_ekf_action != FS_EKF_ACTION_LAND_EVEN_STABILIZE)) {
+    if ((control_mode != LAND) && !mode_requires_GPS(control_mode) && (g.fs_ekf_action != FS_EKF_ACTION_LAND_EVEN_STABILIZE)) {
        return;
    }