From 7aef90a1f38010a678d5793f4570496eb02e4593 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell <tridge@samba.org> Date: Mon, 27 Jan 2014 09:02:39 +1100 Subject: [PATCH] Rover: consider GPS unhealthy if it doesn't have GPS lock --- APMrover2/GCS_Mavlink.pde | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/APMrover2/GCS_Mavlink.pde b/APMrover2/GCS_Mavlink.pde index b4f525da4..24fab18e8 100644 --- a/APMrover2/GCS_Mavlink.pde +++ b/APMrover2/GCS_Mavlink.pde @@ -158,7 +158,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack 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()) { -- GitLab