From 1c49a4349f6f616dd72ee1aae9ecc4d795482bd0 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 6 Aug 2022 11:00:11 -0400
Subject: [PATCH] ekf2: force skip multi-EKF config if replay is enabled

---
 src/modules/ekf2/EKF2.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 625ce125ad..24731fb148 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -2147,7 +2147,7 @@ int EKF2::task_spawn(int argc, char *argv[])
 		}
 	}
 
-	if (multi_mode) {
+	if (multi_mode && !replay_mode) {
 		// Start EKF2Selector if it's not already running
 		if (_ekf2_selector.load() == nullptr) {
 			EKF2Selector *inst = new EKF2Selector();