From f514e76f52cdc5787e27928bc38296f1158c3291 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 22 Jun 2016 11:49:29 +1000
Subject: [PATCH] Plane: reset ground_start_count if we lose 3D fix

thanks to Michael for this suggestion
---
 ArduPlane/ArduPlane.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 5cc21d4a4f..c04eaadb3a 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -491,6 +491,9 @@ void Plane::update_GPS_10Hz(void)
 
         // update wind estimate
         ahrs.estimate_wind();
+    } else if (gps.status() < AP_GPS::GPS_OK_FIX_3D && ground_start_count != 0) {
+        // lost 3D fix, start again
+        ground_start_count = 5;
     }
 
     calc_gndspeed_undershoot();