From 63dae04c22009512abe9a0450480698de2bba9db Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 9 Apr 2014 17:06:06 +0200
Subject: [PATCH] pauls estimator: Added NaN guard before publishing

---
 src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
index 840cd585ec..8ea6118022 100644
--- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
+++ b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
@@ -959,7 +959,7 @@ FixedwingEstimator::task_main()
 			}
 
 			// Publish results
-			if (_initialized) {
+			if (_initialized && (check == OK)) {