From 35ddaa2d4220eb38349df7b045bce659900bba8e 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_NavEKF2: review fixes

thanks Paul!
---
 libraries/AP_NavEKF2/AP_NavEKF2.cpp         | 3 +++
 libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp | 1 -
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index d58a0941b2..9309ee34d8 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -670,6 +670,9 @@ bool NavEKF2::InitialiseFilter(void)
         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_NavEKF2/AP_NavEKF2_Control.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
index 4b26313979..17dc9c0883 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
@@ -439,7 +439,6 @@ bool NavEKF2_core::setOriginLLH(const Location &loc)
 // Set the NED origin to be used until the next filter reset
 void NavEKF2_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) {