From 1cfe8457518a95915e9930e8148a3a4896884f5a Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Fri, 18 May 2018 14:07:22 +1000
Subject: [PATCH] EKF: rework GPS quality check

---
 EKF/control.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/EKF/control.cpp b/EKF/control.cpp
index 950d84a8a0..31ee82664c 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -373,7 +373,7 @@ void Ekf::controlOpticalFlowFusion()
 
 	} else {
 		bool movement_ok = (_imu_sample_delayed.time_us - _time_bad_motion_us) > (uint64_t)5E6;
-		bool bad_gps_aiding = _control_status.flags.gps && _gps_error_norm > gps_err_norm_lim;
+		bool bad_gps_aiding = !_control_status.flags.gps || _gps_error_norm > gps_err_norm_lim;
 		if (movement_ok || bad_gps_aiding) {
 			_inhibit_flow_use = false;
 		}