AP_AHRS : EKF initialisation changed to use bootstrap method

libraries/AP_AHRS/AP_AHRS_NavEKF.cpp

@@ -59,7 +59,7 @@ void AP_AHRS_NavEKF::update(void)
             }
             if (hal.scheduler->millis() - start_time_ms > startup_delay_ms) {
                 ekf_started = true;
-                EKF.InitialiseFilter();
+                EKF.InitialiseFilterBootstrap();
             }
         }
     }
@@ -85,7 +85,7 @@ void AP_AHRS_NavEKF::reset(bool recover_eulers)
 {
     AP_AHRS_DCM::reset(recover_eulers);
     if (ekf_started) {
-        EKF.InitialiseFilter();        
+        EKF.InitialiseFilterBootstrap();        
     }
 }
 
@@ -100,7 +100,7 @@ void AP_AHRS_NavEKF::reset_attitude(const float &_roll, const float &_pitch, con
 {
     AP_AHRS_DCM::reset_attitude(_roll, _pitch, _yaw);
     if (ekf_started) {
-        EKF.InitialiseFilter();        
+        EKF.InitialiseFilterBootstrap();        
     }
 }