From 2a9ecabad86f37ccfcf8de9d0d5853238678ab4c Mon Sep 17 00:00:00 2001
From: Remek Zajac <remek@airmap.com>
Date: Mon, 19 Apr 2021 17:09:06 +0100
Subject: [PATCH] Only accept sufficiently accurate location updates (#9483)

* only accept sufficiently accurate location updates
---
 src/PositionManager/PositionManager.cpp | 6 ++++--
 src/PositionManager/PositionManager.h   | 2 +-
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/src/PositionManager/PositionManager.cpp b/src/PositionManager/PositionManager.cpp
index 370694dfbcd..0a15dbdb39d 100644
--- a/src/PositionManager/PositionManager.cpp
+++ b/src/PositionManager/PositionManager.cpp
@@ -78,9 +78,11 @@ void QGCPositionManager::_positionUpdated(const QGeoPositionInfo &update)
     QGeoCoordinate newGCSPosition = QGeoCoordinate();
     qreal newGCSHeading = update.attribute(QGeoPositionInfo::Direction);
 
-    if (update.isValid()) {
+    if (update.isValid() && update.hasAttribute(QGeoPositionInfo::HorizontalAccuracy)) {
         // Note that gcsPosition filters out possible crap values
-        if (qAbs(update.coordinate().latitude()) > 0.001 && qAbs(update.coordinate().longitude()) > 0.001) {
+        if (qAbs(update.coordinate().latitude()) > 0.001 &&
+            qAbs(update.coordinate().longitude()) > 0.001 &&
+            update.attribute(QGeoPositionInfo::HorizontalAccuracy) <= MinHorizonalAccuracyMeters) {
             newGCSPosition = update.coordinate();
         }
     }
diff --git a/src/PositionManager/PositionManager.h b/src/PositionManager/PositionManager.h
index 1d955978004..4c6575e01c7 100644
--- a/src/PositionManager/PositionManager.h
+++ b/src/PositionManager/PositionManager.h
@@ -21,7 +21,7 @@ class QGCPositionManager : public QGCTool {
     Q_OBJECT
 
 public:
-
+    static constexpr size_t MinHorizonalAccuracyMeters = 100;
     QGCPositionManager(QGCApplication* app, QGCToolbox* toolbox);
     ~QGCPositionManager();