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Include trusted alt for healthy position

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breadoven 2024-05-24 23:20:55 +01:00
parent 49008f47c9
commit 9081429453
1 changed files with 1 additions and 1 deletions
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src/main/navigation/navigation.c
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@ -4437,7 +4437,7 @@ uint32_t distanceToFirstWP(void)
bool navigationPositionEstimateIsHealthy(void)
{
return (posControl.flags.estPosStatus >= EST_USABLE) && STATE(GPS_FIX_HOME);
return posControl.flags.estPosStatus >= EST_USABLE && posControl.flags.estAltStatus >= EST_USABLE && STATE(GPS_FIX_HOME);
}
navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)