From 7a8783f35ead83a6a908a3f40a948e265ee6b317 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Sat, 4 Mar 2017 21:44:19 +1100
Subject: [PATCH] AP_NavEKF3: Fix bug preventing reset to GPS

This fixes a bug that prevented the reset to the GPS position occurring if GPS velocity observations were still passing innovation consistency checks.
---
 libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
index 3578743a7c..794270c638 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
@@ -252,8 +252,7 @@ void NavEKF3_core::setAidingMode()
                  maxLossTime_ms = frontend->posRetryTimeUseVel_ms;
              }
              posAidLossCritical = (imuSampleTime_ms - lastRngBcnPassTime_ms > maxLossTime_ms) &&
-                    (imuSampleTime_ms - lastPosPassTime_ms > maxLossTime_ms) &&
-                    (imuSampleTime_ms - lastVelPassTime_ms > maxLossTime_ms);
+                    (imuSampleTime_ms - lastPosPassTime_ms > maxLossTime_ms);
          }
 
          if (attAidLossCritical) {