From 4db23b7b2e9ad4b903933cdba0c264b0a4c69672 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Thu, 12 Oct 2017 08:26:04 +1100
Subject: [PATCH] EKF: Don't report terrain estimate invalid immediately when
 HAGL observations fail checks

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

diff --git a/EKF/terrain_estimator.cpp b/EKF/terrain_estimator.cpp
index d6dfff8814..da6b56755a 100644
--- a/EKF/terrain_estimator.cpp
+++ b/EKF/terrain_estimator.cpp
@@ -159,7 +159,7 @@ void Ekf::fuseHagl()
 bool Ekf::get_terrain_valid()
 {
 	if (_terrain_initialised && _range_data_continuous && !_rng_stuck &&
-		  !_innov_check_fail_status.flags.reject_hagl) {
+		  (_time_last_imu - _time_last_hagl_fuse < 5E6)) {
 		return true;
 
 	} else {