fix: stuck GNSS control logic on intermittent data#27416
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This fixes the case where the gnss checks is reporting false but the failure doesn't make the control logic time out.
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❌ PR title needs conventional commit formatExpected format: Your title:
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To fix this: click the ✏️ next to the PR title at the top of this page and update it. See CONTRIBUTING.md for details. This comment will be automatically removed once the issue is resolved. |
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💡 Commit messages could be improvedNot blocking, but these commit messages could use some cleanup.
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haumarco
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May 21, 2026
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can you use the type(scope): description format for the commits to make CI happy
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Solved Problem
I found a race condition where the GNSS checks initially passed and then started to fail intermittently while the drone was on the ground (no relaxed checks). This caused the
GnssChecks::runfunction to always return false, which prevents the samples to be fused, but the GNSS fusion never gets disabled as_time_last_pass_usis still updated by the intermittent good samples.This logic is supposed to stop the GNSS fusion when quality is degraded.
Solution
Only update
_time_last_pass_uswhen the full check really passes (includes the hysteresis).Test coverage
add unit test to re-create the race condition (fails without the fix)