From c9c3dda69cc83a1adc49f1c516055c63559d9552 Mon Sep 17 00:00:00 2001
From: Ilya Petrov <38784273+copterspace@users.noreply.github.com>
Date: Tue, 16 Apr 2019 13:09:11 +0400
Subject: [PATCH] do not check VP fusion during GPS startup

This is solution for https://github.com/PX4/Firmware/issues/11864
---
 src/modules/local_position_estimator/sensors/gps.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/local_position_estimator/sensors/gps.cpp b/src/modules/local_position_estimator/sensors/gps.cpp
index 95ce31c0d7fd..fe3cc9fe2d19 100644
--- a/src/modules/local_position_estimator/sensors/gps.cpp
+++ b/src/modules/local_position_estimator/sensors/gps.cpp
@@ -57,7 +57,7 @@ void BlockLocalPositionEstimator::gpsInit()
 			// find lat, lon of current origin by subtracting x and y
 			// if not using vision position since vision will
 			// have it's own origin, not necessarily where vehicle starts
-			if (!_map_ref.init_done && !(_param_lpe_fusion.get() & FUSE_VIS_POS)) {
+			if (!_map_ref.init_done) {
 				double gpsLatOrigin = 0;
 				double gpsLonOrigin = 0;
 				// reproject at current coordinates