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conditionally only do compass check if Mag is defined

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This commit is contained in:
ctzsnooze 2024-10-17 12:19:41 +11:00
parent 8dacb1708f
commit 003bbc1511
1 changed files with 5 additions and 1 deletions
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6
src/main/flight/autopilot.c
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@ -180,7 +180,11 @@ bool positionControl(float deadband) {
return false; // cannot proceed without a GPS location
}
if (!canUseGPSHeading && !compassIsHealthy()) {
if (!canUseGPSHeading
#ifdef USE_MAG
&& !compassIsHealthy()
#endif
) {
return false;
// If compass is healthy, we must have a Mag, and therefore are OK, even with no GPS Heading
// If user allows posHold without a Mag, the IMU must be able to get heading from the GPS