From eac9c78d046136f19d88ddfa5e847c3f23648cb2 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 21 Aug 2024 14:40:10 +1000
Subject: [PATCH] AP_NavEKF2: fixed return of common origin

when common origin is set we should return that, not backends private
origin
---
 libraries/AP_NavEKF2/AP_NavEKF2.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index dbbac13a957a90..4f8006ccac945f 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -1089,6 +1089,10 @@ bool NavEKF2::getOriginLLH(Location &loc) const
     if (!core) {
         return false;
     }
+    if (common_origin_valid) {
+        loc = common_EKF_origin;
+        return true;
+    }
     return core[primary].getOriginLLH(loc);
 }