Plane: when no GPS lock always send GPS messages

11 years ago · 103da0c889
1 changed files with 1 additions and 1 deletions
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@ -293,7 +293,7 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
 static void NOINLINE send_gps_raw(mavlink_channel_t chan)
 {
    static uint32_t last_send_time;
-    if (last_send_time != 0 && last_send_time == g_gps->last_fix_time) {
+    if (last_send_time != 0 && last_send_time == g_gps->last_fix_time && g_gps->status() >= GPS::GPS_OK_FIX_3D) {
        return;
    }
    last_send_time = g_gps->last_fix_time;