From c6b24c521b01bffb6b83f881f0d705802eaa7fc1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 15 Feb 2014 09:25:03 +1100
Subject: [PATCH] AP_NavEKF: force healthy false when initialising

this prevents us feeding off our own values when booting

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
---
 libraries/AP_NavEKF/AP_NavEKF.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 5a362b879d..db2d1251a1 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -315,6 +315,10 @@ void NavEKF::ResetHeight(void)
 
 void NavEKF::InitialiseFilterDynamic(void)
 {
+    // this forces healthy() to be false so that when we ask for ahrs
+    // attitude we get the DCM attitude regardless of the state of AHRS_EKF_USE
+    statesInitialised = false;
+
     // Set re-used variables to zero
     ZeroVariables();