From 7ec8fe8d61ea56b632d8b02bae5d847a3f031771 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 11 May 2014 18:42:46 +0200
Subject: [PATCH] Experimental init delay

---
 src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
index ba8a58f650..d96ae56373 100644
--- a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
+++ b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
@@ -1021,7 +1021,7 @@ FixedwingEstimator::task_main()
 			 *    PART TWO: EXECUTE THE FILTER
 			 **/
 
-			if (_baro_init && _gyro_valid && _accel_valid && _mag_valid) {
+			if (hrt_absolute_time() > 2 * 1000 * 1000 && _baro_init && _gyro_valid && _accel_valid && _mag_valid) {
 
 				float initVelNED[3];