AP_AHRS_NavEKF: override set_correct_centrifugal

libraries/AP_AHRS/AP_AHRS_NavEKF.cpp

@@ -91,9 +91,8 @@ void AP_AHRS_NavEKF::reset(bool recover_eulers)
 
 void AP_AHRS_NavEKF::set_correct_centrifugal(bool setting)
 {
-    if (ekf_started) {
-        EKF.SetStaticMode(setting);        
-    }
+    AP_AHRS_DCM::set_correct_centrifugal(setting);
+    EKF.SetStaticMode(!setting);
 }
 
 // reset the current attitude, used on new IMU calibration

libraries/AP_AHRS/AP_AHRS_NavEKF.h

@@ -51,6 +51,8 @@ public:
     void            update(void);
     void            reset(bool recover_eulers = false);
 
+    void            set_correct_centrifugal(bool setting);
+
     // reset the current attitude, used on new IMU calibration
     void reset_attitude(const float &roll, const float &pitch, const float &yaw);