From f9cdd095b8955ddcd1a1301caf0d7c78fc7e9892 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 26 Jan 2026 16:28:39 +0100 Subject: [PATCH] gnss_checks: always run strict checks on ground With the goal to never take off if the GNSS solution is not fullfilling the configured requirements still not stopping to use it in case it degrades mid air. --- src/modules/ekf2/EKF/aid_sources/gnss/gnss_checks.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/modules/ekf2/EKF/aid_sources/gnss/gnss_checks.cpp b/src/modules/ekf2/EKF/aid_sources/gnss/gnss_checks.cpp index 4dbb08bc2d..e9077e8bdd 100644 --- a/src/modules/ekf2/EKF/aid_sources/gnss/gnss_checks.cpp +++ b/src/modules/ekf2/EKF/aid_sources/gnss/gnss_checks.cpp @@ -49,6 +49,11 @@ bool GnssChecks::run(const gnssSample &gnss, uint64_t time_us) bool passed = false; + // Run strict checks while not flying yet + if (!_control_status.flags.in_air) { + _initial_checks_passed = false; + } + if (_initial_checks_passed) { if (runSimplifiedChecks(gnss)) { _time_last_pass_us = time_us;