From 2131daf42e77d65e31399703d7740b36ce3559c5 Mon Sep 17 00:00:00 2001
From: "Konstantin Sharlaimov (DigitalEntity)"
 <konstantin.sharlaimov@gmail.com>
Date: Sun, 10 Apr 2016 22:28:03 +1000
Subject: [PATCH] NAV: More consistent detection of good GPS on arming.
 BEEPER_ARMING_GPS_FIX will be triggered based on position estimation status,
 not satellite count

---
 src/main/flight/navigation_rewrite.c | 8 +++++++-
 src/main/flight/navigation_rewrite.h | 1 +
 src/main/mw.c                        | 4 ++--
 3 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/src/main/flight/navigation_rewrite.c b/src/main/flight/navigation_rewrite.c
index d116b31189..997d6d5c85 100755
--- a/src/main/flight/navigation_rewrite.c
+++ b/src/main/flight/navigation_rewrite.c
@@ -2109,6 +2109,12 @@ bool naivationBlockArming(void)
     return shouldBlockArming;
 }
 
+
+bool navigationPositionEstimateIsHealthy(void)
+{
+    return posControl.flags.hasValidPositionSensor && STATE(GPS_FIX_HOME);
+}
+
 /**
  * Indicate ready/not ready status
  */
@@ -2117,7 +2123,7 @@ static void updateReadyStatus(void)
     static bool posReadyBeepDone = false;
 
     /* Beep out READY_BEEP once when position lock is firstly acquired and HOME set */
-    if (posControl.flags.hasValidPositionSensor && STATE(GPS_FIX_HOME) && !posReadyBeepDone) {
+    if (navigationPositionEstimateIsHealthy() && !posReadyBeepDone) {
         beeper(BEEPER_READY_BEEP);
         posReadyBeepDone = true;
     }
diff --git a/src/main/flight/navigation_rewrite.h b/src/main/flight/navigation_rewrite.h
index d9d16e042f..6ad4f35673 100755
--- a/src/main/flight/navigation_rewrite.h
+++ b/src/main/flight/navigation_rewrite.h
@@ -241,6 +241,7 @@ bool naivationRequiresAngleMode(void);
 bool navigationRequiresThrottleTiltCompensation(void);
 int8_t naivationGetHeadingControlState(void);
 bool naivationBlockArming(void);
+bool navigationPositionEstimateIsHealthy(void);
 
 /* Access to estimated position and velocity */
 float getEstimatedActualVelocity(int axis);
diff --git a/src/main/mw.c b/src/main/mw.c
index 8b05a005e0..b1578f17c7 100755
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -260,8 +260,8 @@ void mwArm(void)
             disarmAt = millis() + masterConfig.auto_disarm_delay * 1000;   // start disarm timeout, will be extended when throttle is nonzero
 
             //beep to indicate arming
-#ifdef GPS
-            if (feature(FEATURE_GPS) && STATE(GPS_FIX) && gpsSol.numSat >= 5)
+#ifdef NAV
+            if (navigationPositionEstimateIsHealthy())
                 beeper(BEEPER_ARMING_GPS_FIX);
             else
                 beeper(BEEPER_ARMING);