From 52fc2c82af03059291f588fcf96cd0c5958c9615 Mon Sep 17 00:00:00 2001 From: Michael du Breuil Date: Thu, 21 Sep 2017 18:41:09 -0700 Subject: [PATCH] Plane: Report GPS health --- ArduPlane/sensors.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduPlane/sensors.cpp b/ArduPlane/sensors.cpp index 6ae3bce89f..0271557c06 100644 --- a/ArduPlane/sensors.cpp +++ b/ArduPlane/sensors.cpp @@ -306,7 +306,7 @@ void Plane::update_sensor_status_flags(void) if (g.compass_enabled && compass.healthy() && ahrs.use_compass()) { control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG; } - if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) { + if (gps.status() >= AP_GPS::GPS_OK_FIX_3D && gps.is_healthy()) { control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS; } #if OPTFLOW == ENABLED