From 9f130b40a03be080dbf784e6be4f80afb1da0d96 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 6 Jan 2014 12:19:43 +0900
Subject: [PATCH] AP_AHRS_NavEKF: override set_correct_centrifugal

---
 libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 5 ++---
 libraries/AP_AHRS/AP_AHRS_NavEKF.h   | 2 ++
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index 2ba4e01d36..fdb0c52c18 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -91,9 +91,8 @@ void AP_AHRS_NavEKF::reset(bool recover_eulers)
 
 void AP_AHRS_NavEKF::set_correct_centrifugal(bool setting)
 {
-    if (ekf_started) {
-        EKF.SetStaticMode(setting);        
-    }
+    AP_AHRS_DCM::set_correct_centrifugal(setting);
+    EKF.SetStaticMode(!setting);
 }
 
 // reset the current attitude, used on new IMU calibration
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
index cf388bdc3f..55953f5f02 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
@@ -51,6 +51,8 @@ public:
     void            update(void);
     void            reset(bool recover_eulers = false);
 
+    void            set_correct_centrifugal(bool setting);
+
     // reset the current attitude, used on new IMU calibration
     void reset_attitude(const float &roll, const float &pitch, const float &yaw);