From 2ef7a1e56d70bef2d9d2d73ee51c6e0d481e1b54 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sun, 24 Mar 2024 15:42:57 +0000
Subject: [PATCH 1/3] AP_NavEKF2: use set_and_defualt when changing imu mask

---
 libraries/AP_NavEKF2/AP_NavEKF2.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index e4fce86ef7c41..bc958e012aef6 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -643,7 +643,7 @@ bool NavEKF2::InitialiseFilter(void)
 
         // don't allow more filters than IMUs
         uint8_t mask = (1U<<ins.get_accel_count())-1;
-        _imuMask.set(_imuMask.get() & mask);
+        _imuMask.set_and_default(_imuMask.get() & mask);
         
         // count IMUs from mask
         num_cores = __builtin_popcount(_imuMask);

From 6e1934a6cc93dca4215b588777417dcb256ec8bd Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sun, 24 Mar 2024 15:42:57 +0000
Subject: [PATCH 2/3] AP_NavEKF3: use set_and_defualt when changing imu mask

---
 libraries/AP_NavEKF3/AP_NavEKF3.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
index d7d4d3c61a8e5..26bbeffc23d5e 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
@@ -781,7 +781,7 @@ bool NavEKF3::InitialiseFilter(void)
 
         // don't run multiple filters for 1 IMU
         uint8_t mask = (1U<<ins.get_accel_count())-1;
-        _imuMask.set(_imuMask.get() & mask);
+        _imuMask.set_and_default(_imuMask.get() & mask);
         
         // initialise the setup variables
         for (uint8_t i=0; i<MAX_EKF_CORES; i++) {

From 0569c2b8c25185fabf0d19464a95022165bc016c Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sun, 24 Mar 2024 16:40:14 +0000
Subject: [PATCH 3/3] AP_DAL: Standalone: add int8 parameter set_and_default
 method to avoid include

---
 libraries/AP_DAL/examples/AP_DAL_Standalone/main.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/AP_DAL/examples/AP_DAL_Standalone/main.cpp b/libraries/AP_DAL/examples/AP_DAL_Standalone/main.cpp
index e17981542f9c0..6a9371ada0b73 100644
--- a/libraries/AP_DAL/examples/AP_DAL_Standalone/main.cpp
+++ b/libraries/AP_DAL/examples/AP_DAL_Standalone/main.cpp
@@ -9,6 +9,11 @@
 
 void AP_Param::setup_object_defaults(void const*, AP_Param::GroupInfo const*) {}
 
+template<typename T, ap_var_type PT>
+void AP_ParamT<T, PT>::set_and_default(const T &v) {}
+template class AP_ParamT<int8_t, AP_PARAM_INT8>;
+
+
 int AP_HAL::Util::vsnprintf(char*, size_t, char const*, va_list) { return -1; }
 
 void *nologger = nullptr;