Merge pull request #11144 from sensei-hacker/fix-gps-recovery-issue-11049

Fix GPS recovery - update lastUpdateTime on first reading after signal recovery

Author: sensei-hacker

src/main/navigation/navigation_pos_estimator.c

@@ -256,11 +256,13 @@ void onNewGPSData(void)
  posEstimator.gps.eph = INAV_GPS_DEFAULT_EPH;
  posEstimator.gps.epv = INAV_GPS_DEFAULT_EPV;
  }
-
- /* Indicate a last valid reading of Pos/Vel */
- posEstimator.gps.lastUpdateTime = currentTimeUs;
  }
 
+ /* Indicate a last valid reading of Pos/Vel - must be updated even on
+ * first GPS reading after recovery to prevent position estimate from
+ * timing out and getting stuck at zero (fixes issue #11049) */
+ posEstimator.gps.lastUpdateTime = currentTimeUs;
+
  previousLat = gpsSol.llh.lat;
  previousLon = gpsSol.llh.lon;
  previousAlt = gpsSol.llh.alt;