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Rover: GPS reported healthy to GCS even without lock

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a GPS is unhealthy when it cannot be contacted.  Not having a 3D lock should not make the GPS unhealthy.
This commit is contained in:
Randy Mackay 2017-12-15 14:36:07 +09:00
parent bce9a40ab5
commit a8da459baf
1 changed files with 1 additions and 1 deletions
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2
APMrover2/sensors.cpp
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@ -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 && gps.is_healthy()) {
if (gps.is_healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
}
if (g2.visual_odom.enabled() && !g2.visual_odom.healthy()) {