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Plane: Report GPS health

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Michael du Breuil 2017-09-21 18:41:09 -07:00 committed by Francisco Ferreira
parent bfbec02736
commit 52fc2c82af
1 changed files with 1 additions and 1 deletions
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2
ArduPlane/sensors.cpp
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@ -306,7 +306,7 @@ void Plane::update_sensor_status_flags(void)
if (g.compass_enabled && compass.healthy() && ahrs.use_compass()) { if (g.compass_enabled && compass.healthy() && ahrs.use_compass()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG; 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; control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
} }
#if OPTFLOW == ENABLED #if OPTFLOW == ENABLED