AP_NavEKF3: fix setOriginLLH check

ArduPilot · Aug 12, 2020 · d90d748 · d90d748
1 parent c8fcb60
commit d90d748
Showing 1 changed file with 3 additions and 4 deletions.
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
@@ -1187,10 +1187,9 @@ bool NavEKF3::setOriginLLH(const Location &loc)
     if (!core) {
         return false;
     }
-    if (_sources.getPosXYSource() != AP_NavEKF_Source::SourceXY::EXTNAV) {
-        // we don't allow setting of the EKF origin unless we are
-        // flying in non-GPS mode. This is to prevent accidental set
-        // of EKF origin with invalid position or height
+    if (_sources.getPosXYSource() == AP_NavEKF_Source::SourceXY::GPS) {
+        // we don't allow setting of the EKF origin if using GPS to prevent
+        // accidental setting of EKF origin with invalid position or height
         gcs().send_text(MAV_SEVERITY_WARNING, "EKF3 refusing set origin");
         return false;
     }