From 369c130c2d0569d12132a4893be6066eec4d3c9f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 27 Jan 2014 09:02:22 +1100
Subject: [PATCH] Plane: consider GPS unhealthy if it doesn't have 3D lock
---
ArduPlane/GCS_Mavlink.pde | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 4eb42d2d2..93b201fdd 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -209,7 +209,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
if (g.compass_enabled && compass.healthy() && ahrs.use_compass()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
}
- if (g_gps != NULL && g_gps->status() > GPS::NO_GPS) {
+ if (g_gps != NULL && g_gps->status() >= GPS::GPS_OK_FIX_3D) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
}
if (!ins.healthy()) {
--
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