From 9bb54ccc0889543960d722e500c6114f32375bd2 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Thu, 9 Mar 2017 16:15:01 +1100
Subject: [PATCH] EKF: don't accept GPS data without a 3D lock

---
 EKF/estimator_interface.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/EKF/estimator_interface.cpp b/EKF/estimator_interface.cpp
index b0f7ed92dd..9041a10e76 100644
--- a/EKF/estimator_interface.cpp
+++ b/EKF/estimator_interface.cpp
@@ -178,7 +178,7 @@ void EstimatorInterface::setGpsData(uint64_t time_usec, struct gps_message *gps)
 
 	// limit data rate to prevent data being lost
 	bool need_gps = (_params.fusion_mode & MASK_USE_GPS) || (_params.vdist_sensor_type == VDIST_SENSOR_GPS);
-	if (((time_usec - _time_last_gps) > _min_obs_interval_us) && need_gps) {
+	if (((time_usec - _time_last_gps) > _min_obs_interval_us) && need_gps && gps->fix_type > 2) {
 		gpsSample gps_sample_new = {};
 		gps_sample_new.time_us = gps->time_usec - _params.gps_delay_ms * 1000;