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AP_NavEKF: Extend definition of GPS availability to include user inhibit

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priseborough 2015-01-07 23:00:52 +11:00 committed by Andrew Tridgell
parent d0d49065e7
commit 8bc8d1444a
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -3946,8 +3946,8 @@ void NavEKF::readGpsData()
// calculate a position offset which is applied to NE position and velocity wherever it is used throughout code to allow GPS position jumps to be accommodated gradually
decayGpsOffset();
}
// If too long since last fix time, we declare no GPS present
if (imuSampleTime_ms - lastFixTime_ms < 1000) {
// If too long since last fix time or we are not allowed to use GPS, we declare no GPS available for use
if ((imuSampleTime_ms - lastFixTime_ms < 1000) || _fusionModeGPS == 3) {
gpsNotAvailable = false;
} else {
gpsNotAvailable = true;