From b36bfe42066029dac41322d29070033364c98c2a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 1 Jan 2021 15:08:26 +1100
Subject: [PATCH] AP_NavEKF2: fixed init order for scheduler

this can impact replay of EKF2
---
 libraries/AP_NavEKF2/AP_NavEKF2.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index 78b22fc9bc..17ce80288e 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -634,7 +634,11 @@ bool NavEKF2::InitialiseFilter(void)
     imuSampleTime_us = AP::dal().micros64();
 
     // remember expected frame time
-    _frameTimeUsec = 1e6 / ins.get_loop_rate_hz();
+    const float loop_rate = ins.get_loop_rate_hz();
+    if (!is_positive(loop_rate)) {
+        return false;
+    }
+    _frameTimeUsec = 1e6 / loop_rate;
 
     // expected number of IMU frames per prediction
     _framesPerPrediction = uint8_t((EKF_TARGET_DT / (_frameTimeUsec * 1.0e-6) + 0.5));