From 765b8ded02f7bc883ef63506c037e5a8e039d9d8 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 26 Mar 2015 23:24:26 -0700
Subject: [PATCH] Copter: ekf check triggers if position bad

---
 ArduCopter/ekf_check.pde | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/ArduCopter/ekf_check.pde b/ArduCopter/ekf_check.pde
index 8f0726d4ee..3005472e7c 100644
--- a/ArduCopter/ekf_check.pde
+++ b/ArduCopter/ekf_check.pde
@@ -89,6 +89,11 @@ static bool ekf_over_threshold()
         return false;
     }
 
+    // return true immediately if position is bad
+    if (!position_ok()) {
+        return true;
+    }
+
     // use EKF to get variance
     float posVar, hgtVar, tasVar;
     Vector3f magVar;