AP_NavEKF3: only use bcn EKF is the alignement as been completed

libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp

@@ -447,7 +447,7 @@ bool NavEKF3_core::readyToUseGPS(void) const
 // return true if the filter to be ready to use the beacon range measurements
 bool NavEKF3_core::readyToUseRangeBeacon(void) const
 {
-    return tiltAlignComplete && yawAlignComplete && delAngBiasLearned && rngBcnGoodToAlign && rngBcnDataToFuse;
+    return tiltAlignComplete && yawAlignComplete && delAngBiasLearned && rngBcnAlignmentCompleted && rngBcnDataToFuse;
 }
 
 // return true if we should use the compass

libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp

@@ -23,8 +23,8 @@ void NavEKF3_core::SelectRngBcnFusion()
     // Determine if we need to fuse range beacon data on this time step
     if (rngBcnDataToFuse) {
         if (PV_AidingMode == AID_ABSOLUTE) {
-            if (!filterStatus.flags.using_gps) {
-                if (!bcnOriginEstInit && rngBcnAlignmentCompleted) {
+            if (!filterStatus.flags.using_gps && rngBcnAlignmentCompleted) {
+                if (!bcnOriginEstInit) {
                     bcnOriginEstInit = true;
                     bcnPosOffsetNED.x = receiverPos.x - stateStruct.position.x;
                     bcnPosOffsetNED.y = receiverPos.y - stateStruct.position.y;