From 75527ef567267ce2988db753418945ca4472ecb6 Mon Sep 17 00:00:00 2001 From: Francisco Ferreira Date: Thu, 7 Mar 2019 21:26:11 +0000 Subject: [PATCH] AP_GPS: correct blending check --- libraries/AP_GPS/AP_GPS.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp index d006da6fdc..42e8aeb47e 100644 --- a/libraries/AP_GPS/AP_GPS.cpp +++ b/libraries/AP_GPS/AP_GPS.cpp @@ -1184,7 +1184,7 @@ bool AP_GPS::calc_blend_weights(void) memset(&_blend_weights, 0, sizeof(_blend_weights)); // exit immediately if not enough receivers to do blending - if (num_instances < 2 || drivers[1] == nullptr || _type[1] == GPS_TYPE_NONE) { + if (state[0].status <= NO_FIX || state[1].status <= NO_FIX) { return false; }