AP_NavEKF2: Enable entry into relative position mode on start-up

ArduPilot · Oct 5, 2016 · 775a12a · 775a12a
1 parent 596db2d
commit 775a12a
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
@@ -170,7 +170,7 @@ void NavEKF2_core::setAidingMode()
         // GPS aiding is the perferred option unless excluded by the user
         if((frontend->_fusionModeGPS) != 3 && readyToUseGPS() && filterIsStable && !gpsInhibit) {
             PV_AidingMode = AID_ABSOLUTE;
-        } else if ((frontend->_fusionModeGPS == 3) && optFlowDataPresent()) {
+        } else if (optFlowDataPresent() && filterIsStable) {
             PV_AidingMode = AID_RELATIVE;
         }
     } else if (PV_AidingMode == AID_RELATIVE) {