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Don't Switch to DCM to get Better GPS if DCM Isn't Using GPS #25707

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Jan 1, 2024
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Don't Switch to DCM to get Better GPS if DCM Isn't Using GPS #25707

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1 change: 1 addition & 0 deletions libraries/AP_AHRS/AP_AHRS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1974,6 +1974,7 @@ 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)) {
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