Merge pull request #9574 from RomanLut/submit-gps-fix-estimation-rein…

…it-gps
iNavFlight · Nov 30, 2024 · b25c1b7 · b25c1b7
2 parents 1e43344 + be33ed1
commit b25c1b7
Showing 1 changed file with 6 additions and 4 deletions.
diff --git a/src/main/io/gps.c b/src/main/io/gps.c
@@ -392,11 +392,13 @@ 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