AP_GPS: If FIX_TYPE is less than or equal to NO_FIX, do not send tele…

…metry
ArduPilot · Sep 27, 2024 · c71522a · c71522a
1 parent 0ce307c
commit c71522a
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
@@ -1369,7 +1369,7 @@ uint16_t AP_GPS::gps_yaw_cdeg(uint8_t instance) const
 
 void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
 {
-    if (params[0].type == GPS_TYPE_NONE) {  // If none, do not send telemetry.
+    if (params[0].type == GPS_TYPE_NONE || status(0) < GPS_OK_FIX_2D) {  // If none, do not send telemetry.
         return;
     }
 
@@ -1409,7 +1409,7 @@ void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
 void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
 {
     // always send the message if 2nd GPS is configured
-    if (params[1].type == GPS_TYPE_NONE) {
+    if (params[1].type == GPS_TYPE_NONE || status(1) < GPS_OK_FIX_2D) {
         return;
     }