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}
NAV_state = NAV_STATE_PROCESS_NEXT;
} else { //None of the GPS Bo
xes are switched on
f.GPS_mode = GPS_MODE_NONE;
f.GPS_BARO_MODE = false;
f.THROTTLE_IGNORED = false;
f.LAND_IN_PROGRESS = 0;
f.THROTTLE_IGNORED = 0;
NAV_state = NAV_STATE_NONE;
GPS_reset_nav();
}
prv_gps_modes = gps_modes_check;
}
} else { //numSat>5
//numSat dropped below 5 during navigation
if (f.GPS_mode == GPS_MODE_NAV) {
NAV_paused_at = mission_step.number;
f.GPS_mode = GPS_MODE_NONE;
set_new_altitude(alt.EstAlt); //and current altitude
NAV_state = NAV_STATE_NONE;
NAV_error = NAV_ERROR_SPOILED_GPS;
prv_gps_modes = 0xff; //invalidates mode c
heck, to allow re evaluate rcOptions when numsats raised again
}
if (f.GPS_mode == GPS_MODE_HOLD || f.GPS_mode == GPS_MODE_RTH) {
f.GPS_mode = GPS_MODE_NONE;
NAV_state = NAV_STATE_NONE;
NAV_error = NAV_ERROR_SPOILED_GPS;
prv_gps_modes = 0xff; //invalidates mode c
heck, to allow re evaluate rcOptions when numsats raised again
}
nav[0] = 0; nav[1] = 0;
}
} else { //f.GPS_FIX
// GPS Fix dissapeared, very unlikely that we will be able to regain it, abort mission
f.GPS_mode = GPS_MODE_NONE;
NAV_state = NAV_STATE_NONE;
NAV_paused_at = 0;
NAV_error = NAV_ERROR_GPS_FIX_LOST;
GPS_reset_nav();
prv_gps_modes = 0xff; //Gives a chance to
restart mission when regain fix
}
} else { //copter is armed

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