From 18e566ccc58444f94dbcb6c6948b68a234bc9bd3 Mon Sep 17 00:00:00 2001
From: Dr Gareth Owen <drgowen@gmail.com>
Date: Sat, 1 Jun 2013 11:44:25 +0100
Subject: [PATCH] failsafe gps lost bug fix

---
 ArduCopter/events.pde | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/ArduCopter/events.pde b/ArduCopter/events.pde
index daaf8a524d..7a4aa60855 100644
--- a/ArduCopter/events.pde
+++ b/ArduCopter/events.pde
@@ -18,7 +18,7 @@ static void failsafe_radio_on_event()
             // if throttle is zero disarm motors
             if (g.rc_3.control_in == 0) {
                 init_disarm_motors();
-            }else if(ap.home_is_set == true && home_distance > wp_nav.get_waypoint_radius()) {
+            }else if(ap.home_is_set == true && g_gps->status() == GPS::GPS_OK_FIX_3D && home_distance > wp_nav.get_waypoint_radius()) {
                 set_mode(RTL);
             }else{
                 // We have no GPS or are very close to home so we will land
@@ -38,7 +38,7 @@ static void failsafe_radio_on_event()
             // if failsafe_throttle is 2 (i.e. FS_THR_ENABLED_CONTINUE_MISSION) no need to do anything
             break;
         default:
-            if(ap.home_is_set == true && home_distance > wp_nav.get_waypoint_radius()) {
+            if(ap.home_is_set == true && g_gps->status() == GPS::GPS_OK_FIX_3D && home_distance > wp_nav.get_waypoint_radius()) {
                 set_mode(RTL);
             }else{
                 // We have no GPS or are very close to home so we will land
@@ -77,7 +77,7 @@ static void low_battery_event(void)
                 }
                 break;
             case AUTO:
-                if(ap.home_is_set == true && home_distance > wp_nav.get_waypoint_radius()) {
+                if(ap.home_is_set == true && g_gps->status() == GPS::GPS_OK_FIX_3D && home_distance > wp_nav.get_waypoint_radius()) {
                     set_mode(RTL);
                 }else{
                     // We have no GPS or are very close to home so we will land
@@ -190,7 +190,7 @@ static void failsafe_gcs_check()
             // if throttle is zero disarm motors
             if (g.rc_3.control_in == 0) {
                 init_disarm_motors();
-            }else if(ap.home_is_set == true && home_distance > wp_nav.get_waypoint_radius()) {
+            }else if(ap.home_is_set == true && g_gps->status() == GPS::GPS_OK_FIX_3D && home_distance > wp_nav.get_waypoint_radius()) {
                 set_mode(RTL);
             }else{
                 // We have no GPS or are very close to home so we will land
@@ -210,7 +210,7 @@ static void failsafe_gcs_check()
             // if failsafe_throttle is 2 (i.e. FS_THR_ENABLED_CONTINUE_MISSION) no need to do anything
             break;
         default:
-            if(ap.home_is_set == true && home_distance > wp_nav.get_waypoint_radius()) {
+            if(ap.home_is_set == true && g_gps->status() == GPS::GPS_OK_FIX_3D && home_distance > wp_nav.get_waypoint_radius()) {
                 set_mode(RTL);
             }else{
                 // We have no GPS or are very close to home so we will land