From 4f83d39b5ec5dcedd4d81eba9f9bf633e7d351db Mon Sep 17 00:00:00 2001 From: Michael du Breuil Date: Thu, 21 Sep 2017 18:41:21 -0700 Subject: [PATCH] Rover: Report GPS health --- APMrover2/sensors.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/APMrover2/sensors.cpp b/APMrover2/sensors.cpp index 4fa1dcc007..b6c6caa761 100644 --- a/APMrover2/sensors.cpp +++ b/APMrover2/sensors.cpp @@ -329,7 +329,7 @@ void Rover::update_sensor_status_flags(void) if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) { control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG; } - if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) { + if (gps.status() >= AP_GPS::GPS_OK_FIX_3D && gps.is_healthy()) { control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS; } if (g2.visual_odom.enabled() && !g2.visual_odom.healthy()) {