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Plane: consider GPS unhealthy if it doesn't have 3D lock

This commit is contained in:
Andrew Tridgell 2014-01-27 09:02:22 +11:00
parent 214a859e97
commit 369c130c2d
1 changed files with 1 additions and 1 deletions
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2
ArduPlane/GCS_Mavlink.pde
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@ -209,7 +209,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
if (g.compass_enabled && compass.healthy() && ahrs.use_compass()) { if (g.compass_enabled && compass.healthy() && ahrs.use_compass()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG; 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; control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
} }
if (!ins.healthy()) { if (!ins.healthy()) {