AP_AHRS: Fix bug preventing EKF from initialising

This commit is contained in:
Paul Riseborough 2015-04-07 16:37:50 +10:00 committed by Randy Mackay
parent d618c55e2f
commit ff9917d338
1 changed files with 2 additions and 3 deletions

View File

@ -81,9 +81,8 @@ void AP_AHRS_NavEKF::update(void)
if (start_time_ms == 0) {
start_time_ms = hal.scheduler->millis();
}
if (hal.scheduler->millis() - start_time_ms > startup_delay_ms &&
EKF.InitialiseFilterDynamic()) {
ekf_started = true;
if (hal.scheduler->millis() - start_time_ms > startup_delay_ms) {
ekf_started = EKF.InitialiseFilterDynamic();
}
}
if (ekf_started) {