From be33ed109b181d160672063c41bc3256a3119414 Mon Sep 17 00:00:00 2001
From: Roman Lut <11955117+RomanLut@users.noreply.github.com>
Date: Sat, 16 Dec 2023 19:56:53 +0100
Subject: [PATCH] fixed: gps sensor can not reinitialize in gps fix estimation
 mode

---
 src/main/io/gps.c | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/src/main/io/gps.c b/src/main/io/gps.c
index 294b9414297..e8975fa043d 100755
--- a/src/main/io/gps.c
+++ b/src/main/io/gps.c
@@ -399,11 +399,13 @@ void gpsProcessNewSolutionData(bool timeout)
     // Update time
     gpsUpdateTime();
 
-    // Update timeout
-    gpsSetProtocolTimeout(gpsState.baseTimeoutMs);
+    if (!timeout) {
+        // Update timeout
+        gpsSetProtocolTimeout(gpsState.baseTimeoutMs);
 
-    // Update statistics
-    gpsStats.lastMessageDt = gpsState.lastMessageMs - gpsState.lastLastMessageMs;
+        // Update statistics
+        gpsStats.lastMessageDt = gpsState.lastMessageMs - gpsState.lastLastMessageMs;
+    }
     gpsSol.flags.hasNewData = true;
 
     // Toggle heartbeat