Include trusted alt for healthy position

breadoven · May 24, 2024 · 9081429 · 9081429
1 parent 49008f4
commit 9081429
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
@@ -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)