Merge remote-tracking branch 'px4/ekf_home_init' into navigator_cleanup_ekf_home_init

Conflicts:
	src/modules/commander/commander.cpp
	src/modules/mc_pos_control/mc_pos_control_main.cpp
	src/modules/navigator/navigator_main.cpp
	src/modules/uORB/topics/vehicle_global_position.h

1 files changed, 1 insertions, 1 deletions

diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index 10a6cd2c5..c61b6ff3f 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -407,7 +407,7 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 							vel(2) = gps.vel_d_m_s;
 						}
 
-					} else if (ekf_params.acc_comp == 2 && global_pos.global_valid && hrt_absolute_time() < global_pos.timestamp + 500000) {
+					} else if (ekf_params.acc_comp == 2 && gps.eph_m < 5.0f && global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) {
 						vel_valid = true;
 						if (global_pos_updated) {
 							vel_t = global_pos.timestamp;