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AP_AHRS: prevent DCM fallback when losing GPS #25408

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AP_AHRS: prevent DCM fallback when losing GPS #25408

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6 changes: 3 additions & 3 deletions libraries/AP_AHRS/AP_AHRS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1930,19 +1930,19 @@ AP_AHRS::EKFType AP_AHRS::_active_EKF_type(void) const
should_use_gps = true;
}
#endif
const bool have_gps = AP::gps().status() >= AP_GPS::GPS_OK_FIX_3D;
if (hal.util->get_soft_armed() &&
(!filt_state.flags.using_gps ||
!filt_state.flags.horiz_pos_abs) &&
should_use_gps &&
AP::gps().status() >= AP_GPS::GPS_OK_FIX_3D) {
should_use_gps && have_gps) {
// if the EKF is not fusing GPS or doesn't have a 2D fix
// and we have a 3D lock, then plane and rover would
// prefer to use the GPS position from DCM. This is a
// safety net while some issues with the EKF get sorted
// out
return EKFType::DCM;
}
if (hal.util->get_soft_armed() && filt_state.flags.const_pos_mode) {
if (hal.util->get_soft_armed() && filt_state.flags.const_pos_mode && have_gps) {
return EKFType::DCM;
}
if (!filt_state.flags.attitude ||
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