From 3ab9b75df02d1d12150567e726114c1689e18e7a Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Sat, 8 Jul 2017 16:07:24 -0700
Subject: [PATCH] AP_Arming: Check GPS update rate as part of the GPS checks

---
 libraries/AP_Arming/AP_Arming.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 417c3e6b08..ba32b8fcf6 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -349,6 +349,14 @@ bool AP_Arming::gps_checks(bool report)
             }
             return false;
         }
+
+        //GPS update rate acceptable
+        if (!gps.is_healthy()) {
+            if (report) {
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: GPS is not healthy");
+            }
+            return false;
+        }
     }
 
     if ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_GPS_CONFIG)) {