From b817eb0370d2389a764dace7c58e899107dc790a Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 25 Sep 2023 10:04:14 -0400
Subject: [PATCH] ekf2: collect_gps() don't throttle updates until WMM set
 initially

---
 src/modules/ekf2/EKF/gps_checks.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/ekf2/EKF/gps_checks.cpp b/src/modules/ekf2/EKF/gps_checks.cpp
index e98b08365d..0b45b1bd78 100644
--- a/src/modules/ekf2/EKF/gps_checks.cpp
+++ b/src/modules/ekf2/EKF/gps_checks.cpp
@@ -92,7 +92,7 @@ bool Ekf::collect_gps(const gpsMessage &gps)
 		ECL_INFO("GPS checks passed");
 	}
 
-	if (isTimedOut(_wmm_gps_time_last_checked, 1e6)) {
+	if ((isTimedOut(_wmm_gps_time_last_checked, 1e6)) || (_wmm_gps_time_last_set == 0)) {
 		// a rough 2D fix is sufficient to lookup declination
 		const bool gps_rough_2d_fix = (gps.fix_type >= 2) && (gps.eph < 1000);