From 8aa267f75fb1e7161505974b4ac2f7eef95a6cd1 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Fri, 3 Oct 2014 05:51:24 +1000
Subject: [PATCH] AP_NavEKF : Fix bug in reset of GPS glitch offset

The GPS glitch offset was being zeroed during position resets. This caused the filter to reject subsequent GPS measurements if the GPS error persisted long enough to invoke a timeout and a position reset.
---
 libraries/AP_NavEKF/AP_NavEKF.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 53763d2b2c..fd06148846 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -411,8 +411,6 @@ void NavEKF::ResetPosition(void)
         state.position.x = gpsPosNE.x + gpsPosGlitchOffsetNE.x + 0.001f*velNED.x*float(_msecPosDelay);
         state.position.y = gpsPosNE.y + gpsPosGlitchOffsetNE.y + 0.001f*velNED.y*float(_msecPosDelay);
     }
-    // reset the glitch ofset correction states
-    gpsPosGlitchOffsetNE.zero();
     // stored horizontal position states to prevent subsequent GPS measurements from being rejected
     for (uint8_t i=0; i<=49; i++){
         storedStates[i].position[0] = state.position[0];