From 0a5de21dc72957c7ea3fac07fbbb690ffa33429d Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Sun, 21 Dec 2014 21:30:52 +1100
Subject: [PATCH] AP_NavEKF: Fix bug in reporting of solution status

Because synthetic  position measurements at 0,0 are fused during position hold mode, a position timeout cannot be used as the only means of detecting position solution status.
---
 libraries/AP_NavEKF/AP_NavEKF.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index f67fdf5dd8..f1f1f4188b 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -4551,7 +4551,7 @@ void  NavEKF::getFilterStatus(uint8_t &status) const
               !(velTimeout && tasTimeout)<<1 |
               !((velTimeout && hgtTimeout) || (hgtTimeout && _fusionModeGPS > 0))<<2 |
               ((gpsInhibitMode == 2 && flowDataValid) || (!tasTimeout && assume_zero_sideslip()))<<3 |
-              !posTimeout<<4 |
+              !(posTimeout || gpsInhibitMode == 1)<<4 |
               !hgtTimeout<<5 |
               !inhibitGndState<<6 |
               posHoldMode<<7);