From 2e03084d349ce4ba404615f8c79b6d820d3335b6 Mon Sep 17 00:00:00 2001
From: CarlOlsson <carlolsson.co@gmail.com>
Date: Thu, 19 Oct 2017 16:49:54 +0200
Subject: [PATCH] EKF: If aligning yaw for fw with low GPS velocity, use mag

---
 EKF/ekf_helper.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp
index 524cb7ffd5..521e00e5c4 100644
--- a/EKF/ekf_helper.cpp
+++ b/EKF/ekf_helper.cpp
@@ -464,8 +464,8 @@ bool Ekf::realignYawGPS()
 		}
 
 	} else {
-		// we were unable to verify the alignment
-		return false;
+		// attempt a normal alignment using the magnetometer
+		return resetMagHeading(_mag_sample_delayed.mag);
 
 	}
 }