AP_AHRS: don't switch to DCM to get Better GPS if DCM Isn't Using GPS

Look at the parameter to see if DCM uses GPS; if not don't prefer DCM for using GPS.
ArduPilot · Dec 11, 2023 · 8d2d663 · 8d2d663
1 parent 75fca4c
commit 8d2d663
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -1948,6 +1948,7 @@ AP_AHRS::EKFType AP_AHRS::_active_EKF_type(void) const
 
         // Handle loss of global position when we still have a GPS fix
         if (hal.util->get_soft_armed() &&
+            (_gps_use != GPSUse::Disable) &&
             should_use_gps &&
             AP::gps().status() >= AP_GPS::GPS_OK_FIX_3D &&
             (!filt_state.flags.using_gps || !filt_state.flags.horiz_pos_abs)) {