From b78975723c5d280157e334da4706c473276f101c Mon Sep 17 00:00:00 2001
From: Oliver Jowett <oliver@mutability.co.uk>
Date: Wed, 29 Apr 2015 19:50:27 +0100
Subject: [PATCH] Only emit kalman filter values when a position result is
 delivered if the filter actually used that result.

---
 mlat/output.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/mlat/output.py b/mlat/output.py
index c9310cf..a586e60 100644
--- a/mlat/output.py
+++ b/mlat/output.py
@@ -82,7 +82,7 @@ def write_result(self, receive_timestamp, address, ecef, ecef_cov, receivers, di
                 else:
                     err_est = -1
 
-            if kalman_state.valid:
+            if kalman_state.valid and kalman_state.last_update >= receive_timestamp:
                 line = self.KTEMPLATE.format(
                     t=receive_timestamp,
                     address=address,
@@ -193,7 +193,7 @@ def send_heartbeats(self):
     def write_result(self, receive_timestamp, address, ecef, ecef_cov, receivers, distinct, kalman_data):
         try:
             if self.use_kalman_data:
-                if not kalman_data.valid:
+                if not kalman_data.valid or kalman_data.last_update < receive_timestamp:
                     return
 
                 lat, lon, alt = kalman_data.position_llh