EKF: Don't report local position as valid when in a non-position mode

EKF/ekf.h

@@ -196,7 +196,13 @@ public:
 	// and have not started using synthetic position observations to constrain drift
 	bool global_position_is_valid() const
 	{
-		return (_NED_origin_initialised && !_deadreckon_time_exceeded && !_using_synthetic_position);
+		return (_NED_origin_initialised && local_position_is_valid());
+	}
+
+	// return true if the local position estimate is valid
+	bool local_position_is_valid() const
+	{
+		return (!_deadreckon_time_exceeded && !_using_synthetic_position);
 	}
 
 	bool isTerrainEstimateValid() const { return _hagl_valid; };

EKF/estimator_interface.h

@@ -159,7 +159,7 @@ public:
 	int getNumberOfActiveHorizontalAidingSources() const;
 
 	// return true if the local position estimate is valid
-	bool local_position_is_valid() const { return !_deadreckon_time_exceeded; }
+	bool local_position_is_valid() const { return local_position_is_valid(); }
 
 	// return true if the EKF is dead reckoning the position using inertial data only
 	bool inertial_dead_reckoning() const { return _is_dead_reckoning; }