From 4b5d07252e0ce98913dc3e3dbce2356d1471e967 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 10 Apr 2015 10:42:48 +0900
Subject: [PATCH] Copter: ekf_check ok if optflow pos available

---
 ArduCopter/ekf_check.pde | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/ekf_check.pde b/ArduCopter/ekf_check.pde
index 3005472e7c..fa3161a907 100644
--- a/ArduCopter/ekf_check.pde
+++ b/ArduCopter/ekf_check.pde
@@ -90,7 +90,7 @@ static bool ekf_over_threshold()
     }
 
     // return true immediately if position is bad
-    if (!position_ok()) {
+    if (!position_ok() && !optflow_position_ok()) {
         return true;
     }