AP_ExternalAHRS: fixed health report of CINS

tridge · Sep 17, 2023 · 4080687 · 4080687
1 parent 96ec2dd
commit 4080687
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_CINS.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_CINS.h
@@ -32,7 +32,7 @@ class AP_ExternalAHRS_CINS : public AP_ExternalAHRS_backend {
 
     // accessors for AP_AHRS
     bool healthy(void) const override {
-        return true;
+        return state.have_origin;
     }
     bool initialised(void) const override {
         return true;