Copter: only report gps glitch when usb disconnected

ArduCopter/ArduCopter.pde

@@ -1221,6 +1221,7 @@ static void update_GPS(void)
 {
     static uint32_t last_gps_reading;           // time of last gps message
     static uint8_t ground_start_count = 10;     // counter used to grab at least 10 reads before commiting the Home location
+    bool report_gps_glitch;
 
     g_gps->update();
 
@@ -1236,13 +1237,14 @@ static void update_GPS(void)
         // run glitch protection and update AP_Notify if home has been initialised
         if (ap.home_is_set) {
             gps_glitch.check_position();
-            if (AP_Notify::flags.gps_glitching != gps_glitch.glitching()) {
+            report_gps_glitch = (gps_glitch.glitching() && !ap.usb_connected);
+            if (AP_Notify::flags.gps_glitching != report_gps_glitch) {
                 if (gps_glitch.glitching()) {
                     Log_Write_Error(ERROR_SUBSYSTEM_GPS, ERROR_CODE_GPS_GLITCH);
                 }else{
                     Log_Write_Error(ERROR_SUBSYSTEM_GPS, ERROR_CODE_ERROR_RESOLVED);
                 }
-                AP_Notify::flags.gps_glitching = gps_glitch.glitching();
+                AP_Notify::flags.gps_glitching = report_gps_glitch;
             }
         }
     }

ArduCopter/GCS_Mavlink.pde

@@ -187,7 +187,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
     if (g.compass_enabled && compass.healthy() && ahrs.use_compass()) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
     }
-    if (g_gps != NULL && g_gps->status() > GPS::NO_GPS && !gps_glitch.glitching()) {
+    if (g_gps != NULL && g_gps->status() > GPS::NO_GPS && (!gps_glitch.glitching()||ap.usb_connected)) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
     }
     if (ap.rc_receiver_present && !failsafe.radio) {