From e9a9e3328091ab321027d951c7c52600ec60d94c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sun, 24 Aug 2014 21:00:56 +1000
Subject: [PATCH] AP_AHRS: use EKF use_compass() if EKF enabled

this allows magfailed status to show on console via SYS_STATUS health
bits
---
 libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index 2098f7b04..14b1d0a27 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -166,6 +166,9 @@ bool AP_AHRS_NavEKF::airspeed_estimate(float *airspeed_ret) const
 // true if compass is being used
 bool AP_AHRS_NavEKF::use_compass(void)
 {
+    if (using_EKF()) {
+        return EKF.use_compass();
+    }
     return AP_AHRS_DCM::use_compass();
 }
 
-- 
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