From cbb4559c15ba53fb71141eed85155629980bd006 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Thu, 19 Apr 2018 07:19:39 +1000
Subject: [PATCH] ecl : update to version that fixes wind relative dead
 reckoning bug

---
 src/lib/ecl                    | 2 +-
 src/modules/ekf2/ekf2_main.cpp | 9 +++++----
 2 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/src/lib/ecl b/src/lib/ecl
index bd72f3c521..a14434d6dc 160000
--- a/src/lib/ecl
+++ b/src/lib/ecl
@@ -1 +1 @@
-Subproject commit bd72f3c5211176351cbc0596ef69395d359be43d
+Subproject commit a14434d6dc88384577cf3a0ae0921f8826706c64
diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index 23821ca85c..ee86f47e8c 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -1117,9 +1117,8 @@ void Ekf2::run()
 
 			lpos.dist_bottom_rate = -lpos.vz; // Distance to bottom surface (ground) change rate
 
-			bool dead_reckoning;
-			_ekf.get_ekf_lpos_accuracy(&lpos.eph, &lpos.epv, &dead_reckoning);
-			_ekf.get_ekf_vel_accuracy(&lpos.evh, &lpos.evv, &dead_reckoning);
+			_ekf.get_ekf_lpos_accuracy(&lpos.eph, &lpos.epv);
+			_ekf.get_ekf_vel_accuracy(&lpos.evh, &lpos.evv);
 
 			// get state reset information of position and velocity
 			_ekf.get_posD_reset(&lpos.delta_z, &lpos.z_reset_counter);
@@ -1161,7 +1160,9 @@ void Ekf2::run()
 
 				global_pos.yaw = lpos.yaw; // Yaw in radians -PI..+PI.
 
-				_ekf.get_ekf_gpos_accuracy(&global_pos.eph, &global_pos.epv, &global_pos.dead_reckoning);
+				_ekf.get_ekf_gpos_accuracy(&global_pos.eph, &global_pos.epv);
+
+				global_pos.dead_reckoning = _ekf.inertial_dead_reckoning();
 
 				global_pos.terrain_alt_valid = lpos.dist_bottom_valid;
 
-- 
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