From b40a114a0a8d3d32e20d2041f12e238adf7500b1 Mon Sep 17 00:00:00 2001
From: Corvus Corax <corvuscorax@cybertrench.com>
Date: Wed, 18 Jun 2014 21:29:55 +0200
Subject: [PATCH] OP-1371 treat hitl as nav capable fusion algorithm if
 positionstate is set by sim

---
 flight/libraries/sanitycheck.c | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/flight/libraries/sanitycheck.c b/flight/libraries/sanitycheck.c
index 270543f24..665f167d3 100644
--- a/flight/libraries/sanitycheck.c
+++ b/flight/libraries/sanitycheck.c
@@ -38,6 +38,7 @@
 #include <systemsettings.h>
 #include <systemalarms.h>
 #include <revosettings.h>
+#include <positionstate.h>
 #include <taskinfo.h>
 
 // a number of useful macros
@@ -79,10 +80,17 @@ int32_t configuration_check()
         break;
     default:
         navCapableFusion = false;
+        // check for hitl.  hitl allows to feed position and velocity state via
+        // telemetry, this makes nav possible even with an unsuited algorithm
+        if (PositionStateHandle()) {
+            if (PositionStateReadOnly()) {
+                navCapableFusion = true;
+            }
+        }
     }
 #else
     const bool navCapableFusion = false;
-#endif
+#endif /* ifdef REVOLUTION */
 
 
     // Classify airframe type