fixed: gps sensor can not reinitialize in gps fix estimation mode

iNavFlight · Dec 16, 2023 · be33ed1 · be33ed1
1 parent ec6ea45
commit be33ed1
Showing 1 changed file with 6 additions and 4 deletions.
diff --git 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