Merge pull request iNavFlight#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;