From be3a49938efc154aa05b0a8e19f455d4c3bbd362 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 21 Nov 2024 19:08:49 +0900
Subject: [PATCH] AP_NavEKF3: align visodom yaw if using optflow and no yaw src

---
 libraries/AP_NavEKF/AP_NavEKF_Source.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF/AP_NavEKF_Source.cpp b/libraries/AP_NavEKF/AP_NavEKF_Source.cpp
index 679215d296581..1146f57f16240 100644
--- 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