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position_estimator_inav: mark local position as valid even if GPS not available (e.g. only FLOW)

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This commit is contained in:
Anton Babushkin
2014-03-17 22:46:48 +04:00
parent c0c54f01cb
commit 22c8d91389
1 changed files with 1 additions and 1 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.c
+1 -1
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@@ -810,7 +810,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (t > pub_last + pub_interval) { if (t > pub_last + pub_interval) {
pub_last = t; pub_last = t;
/* publish local position */ /* publish local position */
local_pos.xy_valid = can_estimate_xy && use_gps_xy; local_pos.xy_valid = can_estimate_xy;
local_pos.v_xy_valid = can_estimate_xy; local_pos.v_xy_valid = can_estimate_xy;
local_pos.xy_global = local_pos.xy_valid && use_gps_xy; local_pos.xy_global = local_pos.xy_valid && use_gps_xy;
local_pos.z_global = local_pos.z_valid && use_gps_z; local_pos.z_global = local_pos.z_valid && use_gps_z;