From 1c5065a199b543d51f39f8cca38750af7385da24 Mon Sep 17 00:00:00 2001
From: lm <pixhawk@pixhawk02.(none)>
Date: Mon, 27 Sep 2010 12:30:45 +0200
Subject: [PATCH] Ignoring GPS messages without fix

---
 src/uas/UAS.cc | 44 ++++++++++++++++++++++++--------------------
 1 file changed, 24 insertions(+), 20 deletions(-)

diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 9d561b094..0127fd4b9 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -365,28 +365,32 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 // only accept values in a realistic range
                // quint64 time = getUnixTime(pos.usec);
                 quint64 time = MG::TIME::getGroundTimeNow();
-                emit valueChanged(uasId, "lat", pos.lat, time);
-                emit valueChanged(uasId, "lon", pos.lon, time);
-                // Check for NaN
-                int alt = pos.alt;
-                if (alt != alt)
-                {
-                    alt = 0;
-                    emit textMessageReceived(uasId, message.compid, 255, "GCS ERROR: RECEIVED NaN FOR ALTITUDE");
-                }
-                emit valueChanged(uasId, "alt", pos.alt, time);
-                // Smaller than threshold and not NaN
-                if (pos.v < 1000000 && pos.v == pos.v)
-                {
-                    emit valueChanged(uasId, "speed", pos.v, time);
-                    //qDebug() << "GOT GPS RAW";
-                    emit speedChanged(this, (double)pos.v, 0.0, 0.0, time);
-                }
-                else
+                if (pos.fix_type > 0)
                 {
-                     emit textMessageReceived(uasId, message.compid, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(pos.v));
+                    emit valueChanged(uasId, "lat", pos.lat, time);
+                    emit valueChanged(uasId, "lon", pos.lon, time);
+                    emit globalPositionChanged(this, pos.lon, pos.lat, alt, time);
+
+                    // Check for NaN
+                    int alt = pos.alt;
+                    if (alt != alt)
+                    {
+                        alt = 0;
+                        emit textMessageReceived(uasId, message.compid, 255, "GCS ERROR: RECEIVED NaN FOR ALTITUDE");
+                    }
+                    emit valueChanged(uasId, "alt", pos.alt, time);
+                    // Smaller than threshold and not NaN
+                    if (pos.v < 1000000 && pos.v == pos.v)
+                    {
+                        emit valueChanged(uasId, "speed", pos.v, time);
+                        //qDebug() << "GOT GPS RAW";
+                        emit speedChanged(this, (double)pos.v, 0.0, 0.0, time);
+                    }
+                    else
+                    {
+                        emit textMessageReceived(uasId, message.compid, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(pos.v));
+                    }
                 }
-                emit globalPositionChanged(this, pos.lon, pos.lat, alt, time);
             }
             break;
         case MAVLINK_MSG_ID_GPS_STATUS:
-- 
2.22.0