AP_AHRS: Fix bug preventing EKF from initialising

10 years ago · ff9917d338
1 changed files with 2 additions and 3 deletions
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@ -81,9 +81,8 @@ void AP_AHRS_NavEKF::update(void)
				@@ -81,9 +81,8 @@ void AP_AHRS_NavEKF::update(void)
        if (start_time_ms == 0) {
            start_time_ms = hal.scheduler->millis();
        }
-        if (hal.scheduler->millis() - start_time_ms > startup_delay_ms &&
-            EKF.InitialiseFilterDynamic()) {
-            ekf_started = true;
+        if (hal.scheduler->millis() - start_time_ms > startup_delay_ms) {
+            ekf_started = EKF.InitialiseFilterDynamic();
        }
    }
    if (ekf_started) {