public double max_baro_speed;
public AltosGPS gps;
+ public int gps_sequence;
public AltosIMU imu;
public AltosMag mag;
npad = prev_state.npad;
ngps = prev_state.ngps;
gps = prev_state.gps;
+ gps_sequence = prev_state.gps_sequence;
pad_lat = prev_state.pad_lat;
pad_lon = prev_state.pad_lon;
pad_alt = prev_state.pad_alt;
npad = 0;
ngps = 0;
gps = null;
+ gps_sequence = 0;
baro_speed = AltosRecord.MISSING;
accel_speed = AltosRecord.MISSING;
pad_alt = AltosRecord.MISSING;
time = tick / 100.0;
- if (cur.new_gps && (state < AltosLib.ao_flight_boost)) {
+ if (data.gps != null && data.gps_sequence != gps_sequence && (state < AltosLib.ao_flight_boost)) {
/* Track consecutive 'good' gps reports, waiting for 10 of them */
if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
pad_alt = ground_altitude;
}
- data.new_gps = false;
+ gps_sequence = data.gps_sequence;
gps_waiting = MIN_PAD_SAMPLES - npad;
if (gps_waiting < 0)