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Peter Barker
32135041e5
if a GPS loses fix then we do not necessarily become unhealthy - there's a health counter which updates and must pass a threshold to be unhealthy. If we zero the blended weights when a GPS loses fix *and* the other has a fix then we will end up not only having a bad location but also having zero velocities and accuracies as we multiply by the weights to find a blended number. Using stale weights would seem to be the only option if we want to have hysteresis on the blended health even when a GPS loses its fix