Ignoring GPS messages without fix

src/uas/UAS.cc

@@ -365,8 +365,12 @@ 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();
+                if (pos.fix_type > 0)
+                {
                     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)
@@ -386,7 +390,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     {
                         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: