From 7677a162aaad97b1bed19592a887daf210ada15d Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Sun, 13 Mar 2016 20:35:51 +1100
Subject: [PATCH] EKF: Don't start the output observer before the main filter
 has initialised

This prevents the possibility of output transients if alignment is delayed.
---
 EKF/ekf.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp
index 62f4e1cbbc..12a1ffd177 100644
--- a/EKF/ekf.cpp
+++ b/EKF/ekf.cpp
@@ -160,8 +160,6 @@ bool Ekf::init(uint64_t timestamp)
 bool Ekf::update()
 {
 
-	// Only run the filter if IMU data in the buffer has been updated
-	if (_imu_updated) {
 		if (!_filter_initialised) {
 			_filter_initialised = initialiseFilter();
 
@@ -170,6 +168,9 @@ bool Ekf::update()
 			}
 		}
 
+	// Only run the filter if IMU data in the buffer has been updated
+	if (_imu_updated) {
+
 		// perform state and covariance prediction for the main filter
 		predictState();
 		predictCovariance();