From b3251e2cfbfabd975f5e29d3de5a295f1fb6c06a Mon Sep 17 00:00:00 2001
From: peabody124 <peabody124>
Date: Fri, 26 Nov 2010 15:57:13 +0000
Subject: [PATCH] AHRS: Accidentally was using mags when in indoor_nomag mode

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2159 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/AHRS/ahrs.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/flight/AHRS/ahrs.c b/flight/AHRS/ahrs.c
index 45a4a852a..82188e7b7 100644
--- a/flight/AHRS/ahrs.c
+++ b/flight/AHRS/ahrs.c
@@ -245,8 +245,8 @@ void ins_indoor_update()
 		INSPosVelReset(vel,vel);
 	else 
 		sensors = HORIZ_SENSORS | VERT_SENSORS;
-	
-	if(mag_data.updated) {
+
+	if(mag_data.updated && (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR)) {
 		sensors |= MAG_SENSORS;
 		mag_data.updated = false;
 	}