Rover: Report GPS health

Kiwa21 · Sep 27, 2017 · 4f83d39 · 4f83d39
1 parent 52fc2c8
commit 4f83d39
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/APMrover2/sensors.cpp b/APMrover2/sensors.cpp
@@ -329,7 +329,7 @@ void Rover::update_sensor_status_flags(void)
     if (g.compass_enabled && compass.healthy(0) && 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 (g2.visual_odom.enabled() && !g2.visual_odom.healthy()) {