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Copter: run GPS glitch detection even when not armed

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Randy Mackay 2013-11-22 21:46:13 +09:00
parent d39598de6a
commit b8bfe008e1
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/ArduCopter.pde
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@ -1283,11 +1283,11 @@ static void update_GPS(void)
g_gps->update();
// logging and glitch protection run after every gps message
if ((g_gps->last_message_time_ms() != last_gps_reading) && motors.armed()) {
if (g_gps->last_message_time_ms() != last_gps_reading) {
last_gps_reading = g_gps->last_message_time_ms();
// log GPS message
if (g.log_bitmask & MASK_LOG_GPS) {
if ((g.log_bitmask & MASK_LOG_GPS) && motors.armed()) {
DataFlash.Log_Write_GPS(g_gps, current_loc.alt);
}