From b2c0979947181caac3032e72aeec68444d7c9961 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Fri, 21 Mar 2014 18:52:27 +1100
Subject: [PATCH] AP_NavEKF : Fixes bug that causes accel bias to diverge in
 static mode, preventing copter arming

---
 libraries/AP_NavEKF/AP_NavEKF.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 328054b3d0..dc3e7f8664 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -1544,7 +1544,7 @@ void NavEKF::FuseVelPosNED()
         // because there may be no stored states due to lack of real measurements.
         // in static mode, only position and height fusion is used
         if (staticMode) {
-            for (uint8_t i=7; i<=9; i++) {
+            for (uint8_t i=0; i<=30; i++) {
                 statesAtPosTime[i] = states[i];
                 statesAtHgtTime[i] = states[i];
             }