AP_AHRS : Enable EKF start without GPS

libraries/AP_AHRS/AP_AHRS_NavEKF.cpp

@@ -77,8 +77,7 @@ void AP_AHRS_NavEKF::update(void)
     _dcm_attitude(roll, pitch, yaw);
 
     if (!ekf_started) {
-        // if we have a GPS lock and more than 6 satellites, we can start the EKF
-        if (get_gps().status() >= AP_GPS::GPS_OK_FIX_3D && get_gps().num_sats() >= _gps_minsats) {
+        // wait 10 seconds
         if (start_time_ms == 0) {
             start_time_ms = hal.scheduler->millis();
         }
@@ -87,7 +86,6 @@ void AP_AHRS_NavEKF::update(void)
             EKF.InitialiseFilterDynamic();
         }
     }
-    }
     if (ekf_started) {
         EKF.UpdateFilter();
         EKF.getRotationBodyToNED(_dcm_matrix);