From 0599817aa9e6b739cad2c9738911e5bb8937eb02 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Fri, 31 Jan 2014 09:29:20 +1100
Subject: [PATCH] AP_AHRS : EKF initialisation changed to use bootstrap method

---
 libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index fdb0c52c18..4740d063d4 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -59,7 +59,7 @@ void AP_AHRS_NavEKF::update(void)
             }
             if (hal.scheduler->millis() - start_time_ms > startup_delay_ms) {
                 ekf_started = true;
-                EKF.InitialiseFilter();
+                EKF.InitialiseFilterBootstrap();
             }
         }
     }
@@ -85,7 +85,7 @@ void AP_AHRS_NavEKF::reset(bool recover_eulers)
 {
     AP_AHRS_DCM::reset(recover_eulers);
     if (ekf_started) {
-        EKF.InitialiseFilter();        
+        EKF.InitialiseFilterBootstrap();        
     }
 }
 
@@ -100,7 +100,7 @@ void AP_AHRS_NavEKF::reset_attitude(const float &_roll, const float &_pitch, con
 {
     AP_AHRS_DCM::reset_attitude(_roll, _pitch, _yaw);
     if (ekf_started) {
-        EKF.InitialiseFilter();        
+        EKF.InitialiseFilterBootstrap();        
     }
 }