From 1c244af3d8af9c419b31297ac84401568fe97e3e Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Mon, 16 Mar 2015 10:51:19 -0700
Subject: [PATCH] AP_NavEKF: Fix bug affecting in-flight GPS acquisition

This bug caused velocities to be reset to zero
---
 libraries/AP_NavEKF/AP_NavEKF.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 48674ef6e8..53803dafed 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -4014,6 +4014,7 @@ void NavEKF::readGpsData()
             if (vehicleArmed && _fusionModeGPS != 3) {
                 constPosMode = false;
                 PV_AidingMode = AID_ABSOLUTE;
+                gpsNotAvailable = false;
                 // Initialise EKF position and velocity states
                 ResetPosition();
                 ResetVelocity();