From 8ce97af40ea0381e74679f34f7090ddf2624f209 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <priseborough@sypaq.com.au>
Date: Sat, 18 Apr 2020 20:40:30 +1000
Subject: [PATCH] ArduCopter: Preserve original check criteria

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

diff --git a/ArduCopter/ekf_check.cpp b/ArduCopter/ekf_check.cpp
index bcbd615527..b6932a795d 100644
--- a/ArduCopter/ekf_check.cpp
+++ b/ArduCopter/ekf_check.cpp
@@ -130,7 +130,7 @@ bool Copter::ekf_over_threshold()
         over_thresh_count++;
     }
 
-    if (position_variance >= g.fs_ekf_thresh && over_thresh_count >= 1) {
+    if ((position_variance >= g.fs_ekf_thresh && over_thresh_count >= 1) || over_thresh_count >= 2) {
         return true;
     }