Merge pull request #5444 from DonLakeFlyer/BogusLatLon

Handle bogus lat/lon from ArduPilot

src/MissionManager/MissionController.cc

@@ -158,7 +158,10 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
                 qWarning() << "First item is not settings item";
                 return;
             }
-            settingsItem->setCoordinate(newMissionItems[0]->coordinate());
+            MissionItem* fakeHomeItem = newMissionItems[0];
+            if (fakeHomeItem->coordinate().latitude() != 0 || fakeHomeItem->coordinate().longitude() != 0) {
+                settingsItem->setCoordinate(fakeHomeItem->coordinate());
+            }
             i = 1;
         }
 

src/Vehicle/Vehicle.cc

@@ -681,8 +681,8 @@ void Vehicle::_handleGlobalPositionInt(mavlink_message_t& message)
     mavlink_global_position_int_t globalPositionInt;
     mavlink_msg_global_position_int_decode(&message, &globalPositionInt);
 
-    // ArduPilot sends bogus GLOBAL_POSITION_INT messages with lat/lat/alt 0/0/0 even when it has not gps signal
-    if (globalPositionInt.lat == 0 && globalPositionInt.lon == 0 && globalPositionInt.alt == 0) {
+    // ArduPilot sends bogus GLOBAL_POSITION_INT messages with lat/lat 0/0 even when it has not gps signal
+    if (globalPositionInt.lat == 0 && globalPositionInt.lon == 0) {
         return;
     }