From 4fa0123652a3f99009aea1ca1f71b1f7436131cb Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Mon, 2 Nov 2015 13:48:30 +0100
Subject: [PATCH] Navigator: Only indicate timeout if we really time out

---
 src/modules/navigator/navigator_main.cpp | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index df2d6f5c07..c7d1c10d05 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -314,6 +314,8 @@ Navigator::task_main()
 	fds[0].fd = _global_pos_sub;
 	fds[0].events = POLLIN;
 
+	bool global_pos_available_once = false;
+
 	while (!_task_should_exit) {
 
 		/* wait for up to 200ms for data */
@@ -321,7 +323,9 @@ Navigator::task_main()
 
 		if (pret == 0) {
 			/* timed out - periodic check for _task_should_exit, etc. */
-			PX4_WARN("navigator timed out");
+			if (global_pos_available_once) {
+				PX4_WARN("navigator timed out");
+			}
 			continue;
 
 		} else if (pret < 0) {
@@ -330,6 +334,8 @@ Navigator::task_main()
 			continue;
 		}
 
+		global_pos_available_once = true;
+
 		perf_begin(_loop_perf);
 
 		if (_mavlink_fd < 0 && hrt_absolute_time() > mavlink_open_time) {