AP_NavEKF3: Fix bug preventing EKFGSF running when needed for reset

The gpsAccuracyGood flag should not be used because it will go false if GPS innovations become high due to bad yaw which is when the EKFGSF is required. to keep running.

libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp

@@ -392,10 +392,10 @@ void NavEKF3_core::detectFlight()
     updateTouchdownExpected();
 
     // handle reset of counters used to control how many times we will try to reset the yaw to the EKF-GSF value per flight
-    if ((!prevOnGround && onGround) || !gpsAccuracyGood) {
+    if ((!prevOnGround && onGround) || !gpsSpdAccPass) {
         // disable filter bank
         EKFGSF_run_filterbank = false;
-    } else if (yawEstimator != nullptr && !EKFGSF_run_filterbank && (inFlight || expectTakeoff) && gpsAccuracyGood) {
+    } else if (yawEstimator != nullptr && !EKFGSF_run_filterbank && (inFlight || expectTakeoff) && gpsSpdAccPass) {
         // flying or about to fly so reset counters and enable filter bank when GPS is good
         EKFGSF_yaw_reset_ms = 0;
         EKFGSF_yaw_reset_request_ms = 0;