From 04944fa6cec474a1baf86bc8d5c6882c5c4f184a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 29 Jul 2019 08:55:39 +1000
Subject: [PATCH] AP_NavEKF3: review fixes

thanks Paul!
---
 libraries/AP_NavEKF3/AP_NavEKF3.cpp         | 3 +++
 libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp | 1 -
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
index 415bfd0b1b..42342b463d 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
@@ -712,6 +712,9 @@ bool NavEKF3::InitialiseFilter(void)
     // Set the primary initially to be the lowest index
     primary = 0;
 
+    // invalidate shared origin
+    common_origin_valid = false;
+
     // initialise the cores. We return success only if all cores
     // initialise successfully
     bool ret = true;
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
index 461148780a..8716e49f7f 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
@@ -481,7 +481,6 @@ bool NavEKF3_core::setOriginLLH(const Location &loc)
 // Set the NED origin to be used until the next filter reset
 void NavEKF3_core::setOrigin(const Location &loc)
 {
-    // assume origin at current GPS location (no averaging)
     EKF_origin = loc;
     // if flying, correct for height change from takeoff so that the origin is at field elevation
     if (inFlight) {