Rover: Report GPS health

7 years ago · 4f83d39b5e
1 changed files with 1 additions and 1 deletions
--- a/APMrover2/sensors.cpp
+++ b/APMrover2/sensors.cpp
@ -329,7 +329,7 @@ void Rover::update_sensor_status_flags(void)
				@@ -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()) {