From 0745334ac46c40ed407dc11ebbb7c252e37bcb43 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Mon, 28 Apr 2014 11:41:40 +0200
Subject: [PATCH] Reset init flags as well

---
 src/modules/ekf_att_pos_estimator/estimator.cpp | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/src/modules/ekf_att_pos_estimator/estimator.cpp b/src/modules/ekf_att_pos_estimator/estimator.cpp
index 14761831cf..6eccc4c4d2 100644
--- a/src/modules/ekf_att_pos_estimator/estimator.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator.cpp
@@ -2407,6 +2407,19 @@ void AttPosEKF::InitializeDynamic(float (&initvelNED)[3])
     // Clear the init flag
     statesInitialised = false;
 
+    // Clear other flags, waiting for new data
+    fusionModeGPS = 0;
+    fuseVelData = false;
+    fusePosData = false;
+    fuseHgtData = false;
+    fuseMagData = false;
+    fuseVtasData = false;
+    // onGround(true),
+    // staticMode(true),
+    useAirspeed = true;
+    useCompass = true;
+    useRangeFinder = true;
+
     ZeroVariables();
 
     // Calculate initial filter quaternion states from raw measurements