From 83b765f7077b92b054da5b6a103a75676ac2edbe Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Mon, 4 Dec 2017 09:30:21 +1100
Subject: [PATCH] EKF: Don't print navigation lost message on startup

---
 EKF/control.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/EKF/control.cpp b/EKF/control.cpp
index f2b7f196d1..299917a710 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -1336,7 +1336,9 @@ void Ekf::controlVelPosFusion()
 			_last_known_posNE(1) = _state.pos(1);
 			_state.vel.setZero();
 			_fuse_hpos_as_odom = false;
-			ECL_WARN("EKF stopping navigation");
+			if (_time_last_fake_gps != 0) {
+				ECL_WARN("EKF stopping navigation");
+			}
 
 		}