code: def ekf_ok(self):
          
          # legacy check for dronekit-python for solo
          # use same check that ArduCopter::system.pde::position_ok() is using
          if self.armed:
              return self._ekf_poshorizabs and not self._ekf_constposmode
          else:
              return self._ekf_poshorizabs or self._ekf_predposhorizabs
docs: ``True`` if the EKF status is considered acceptable, ``False`` otherwise (``boolean``).