From 2214e7c202367268b73a2704a584654bc8ac5544 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 30 Jun 2016 16:59:17 +0200
Subject: [PATCH] Commander: Remove annoying GPS fix regained warning

---
 src/modules/commander/commander.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index e45cb9d15c..d543afc33c 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -2192,7 +2192,9 @@ int commander_thread_main(int argc, char *argv[])
 				if (status_flags.gps_failure && !gpsIsNoisy) {
 					status_flags.gps_failure = false;
 					status_changed = true;
-					mavlink_log_critical(&mavlink_log_pub, "GPS fix regained");
+					if (status_flags.condition_home_position_valid) {
+						mavlink_log_critical(&mavlink_log_pub, "GPS fix regained");
+					}
 				}
 
 			} else if (!status_flags.gps_failure) {