From 07ca7388427e69586b6b3e7357e1ad20ab33fdb2 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 7 Feb 2023 10:12:28 +0100
Subject: [PATCH] some more tweaks

---
 linux/devices/GpsHyperionLinuxController.cpp | 23 ++++++++++++++------
 1 file changed, 16 insertions(+), 7 deletions(-)

diff --git a/linux/devices/GpsHyperionLinuxController.cpp b/linux/devices/GpsHyperionLinuxController.cpp
index 3c19ca72..c3e7bc73 100644
--- a/linux/devices/GpsHyperionLinuxController.cpp
+++ b/linux/devices/GpsHyperionLinuxController.cpp
@@ -225,25 +225,34 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
   gpsSet.satInUse.value = gps.satellites_used;
   gpsSet.satInView.value = gps.satellites_visible;
 
+  bool latValid = false;
   if (std::isfinite(gps.fix.latitude)) {
     // Negative latitude -> South direction
     gpsSet.latitude.value = gps.fix.latitude;
-  } else {
-    gpsSet.latitude.setValid(false);
+    if(gps.fix.mode >= 2) {
+      latValid = true;
+    }
   }
+  gpsSet.latitude.setValid(latValid);
 
+  bool longValid = false;
   if (std::isfinite(gps.fix.longitude)) {
     // Negative longitude -> West direction
     gpsSet.longitude.value = gps.fix.longitude;
-  } else {
-    gpsSet.longitude.setValid(false);
+    if(gps.fix.mode >= 2) {
+      longValid = true;
+    }
   }
+  gpsSet.latitude.setValid(longValid);
 
+  bool altitudeValid = false;
   if (std::isfinite(gps.fix.altitude)) {
     gpsSet.altitude.value = gps.fix.altitude;
-  } else {
-    gpsSet.altitude.setValid(false);
+    if(gps.fix.mode == 3) {
+      altitudeValid = true;
+    }
   }
+  gpsSet.altitude.setValid(altitudeValid);
 
   if (std::isfinite(gps.fix.speed)) {
     gpsSet.speed.value = gps.fix.speed;
@@ -277,7 +286,7 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
   if (debugHyperionGps) {
     sif::info << "-- Hyperion GPS Data --" << std::endl;
 #if LIBGPS_VERSION_MINOR <= 17
-    time_t timeRaw = gps.fix.time;
+    time_t timeRaw = gpsSet.unixSeconds.value;
 #else
     time_t timeRaw = gps.fix.time.tv_sec;
 #endif