lpos accuracy: bump variance if deadreckon time exceeded

EKF/ekf_helper.cpp

@@ -752,10 +752,10 @@ void Ekf::get_ekf_lpos_accuracy(float *ekf_eph, float *ekf_epv) const
 	// TODO - allow for baro drift in vertical position error
 	float hpos_err = sqrtf(P(7, 7) + P(8, 8));
 
-	// If we are dead-reckoning, use the innovations as a conservative alternate measure of the horizontal position error
+	// If we are dead-reckoning for too long, use the innovations as a conservative alternate measure of the horizontal position error
 	// The reason is that complete rejection of measurements is often caused by heading misalignment or inertial sensing errors
 	// and using state variances for accuracy reporting is overly optimistic in these situations
-	if (_is_dead_reckoning && _control_status.flags.gps) {
+	if (_deadreckon_time_exceeded && _control_status.flags.gps) {
 		hpos_err = math::max(hpos_err, sqrtf(sq(_gps_pos_innov(0)) + sq(_gps_pos_innov(1))));
 	}
 
@@ -768,10 +768,10 @@ void Ekf::get_ekf_vel_accuracy(float *ekf_evh, float *ekf_evv) const
 {
 	float hvel_err = sqrtf(P(4, 4) + P(5, 5));
 
-	// If we are dead-reckoning, use the innovations as a conservative alternate measure of the horizontal velocity error
+	// If we are dead-reckoning for too long, use the innovations as a conservative alternate measure of the horizontal velocity error
 	// The reason is that complete rejection of measurements is often caused by heading misalignment or inertial sensing errors
 	// and using state variances for accuracy reporting is overly optimistic in these situations
-	if (_is_dead_reckoning) {
+	if (_deadreckon_time_exceeded) {
 		float vel_err_conservative = 0.0f;
 
 		if (_control_status.flags.opt_flow) {