``True`` if the EKF status is considered acceptable, ``False`` otherwise (``boolean``).

def ekf_ok(self):
        """
        ``True`` if the EKF status is considered acceptable, ``False`` otherwise (``boolean``).
        """
        # 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