AP_NavEKF3: align visodom yaw if using optflow and no yaw src

rmackay9 · Nov 21, 2024 · be3a499 · be3a499
1 parent 052ace1
commit be3a499
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/libraries/AP_NavEKF/AP_NavEKF_Source.cpp b/libraries/AP_NavEKF/AP_NavEKF_Source.cpp
@@ -293,7 +293,8 @@ void AP_NavEKF_Source::align_inactive_sources()
     if ((getYawSource() == SourceYaw::COMPASS) ||
         (getYawSource() == SourceYaw::GPS) ||
         (getYawSource() == SourceYaw::GPS_COMPASS_FALLBACK) ||
-        (getYawSource() == SourceYaw::GSF)) {
+        (getYawSource() == SourceYaw::GSF) ||
+        ((getYawSource() == SourceYaw::NONE) && option_is_set(SourceOptions::ALIGN_EXTNAV_POS_WHEN_USING_OPTFLOW))) {
         for (uint8_t i=0; i<AP_NAKEKF_SOURCE_SET_MAX; i++) {
             if (_source_set[i].yaw == SourceYaw::EXTNAV) {
                 // ExtNav could potentially be used, so align it