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AP_GPS: stop blending if too many blending failures

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Randy Mackay 2017-03-10 16:09:23 +09:00
parent b7ad8da9b9
commit e9c881c668
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_GPS/AP_GPS.cpp
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@ -638,6 +638,10 @@ AP_GPS::update(void)
} else if (_blend_health_counter > 0) { } else if (_blend_health_counter > 0) {
_blend_health_counter--; _blend_health_counter--;
} }
// stop blending if unhealthy
if (_blend_health_counter >= 50) {
_output_is_blended = false;
}
} else { } else {
_output_is_blended = false; _output_is_blended = false;
_blend_health_counter = 0; _blend_health_counter = 0;