From 5155346d60ea139e1405066179d9df51b6639db4 Mon Sep 17 00:00:00 2001
From: bresch <brescianimathieu@gmail.com>
Date: Wed, 30 Nov 2022 13:38:17 +0100
Subject: [PATCH] ekf2: do not use gnss data when no lock

---
 src/modules/ekf2/EKF/estimator_interface.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/ekf2/EKF/estimator_interface.cpp b/src/modules/ekf2/EKF/estimator_interface.cpp
index e08c7b7124..7764259ca1 100644
--- a/src/modules/ekf2/EKF/estimator_interface.cpp
+++ b/src/modules/ekf2/EKF/estimator_interface.cpp
@@ -151,7 +151,7 @@ void EstimatorInterface::setGpsData(const gpsMessage &gps)
 
 	if (time_us >= static_cast<int64_t>(_gps_buffer->get_newest().time_us + _min_obs_interval_us)) {
 
-		if (!gps.vel_ned_valid) {
+		if (!gps.vel_ned_valid || (gps.fix_type == 0)) {
 			return;
 		}