From 5cd4a9c73fd76c5737e8f5aa59a6bf96c9fe26e2 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Thu, 10 Dec 2020 09:33:15 -0500 Subject: [PATCH] commander: global position validity respect local position xy_valid --- src/modules/commander/Commander.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index bac4c2e45e..25b0e540b3 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -4077,7 +4077,7 @@ void Commander::estimator_check() } else { if (!_skip_pos_accuracy_check) { // use global position message to determine validity - check_posvel_validity(true, gpos.eph, _eph_threshold_adj, gpos.timestamp, &_last_gpos_fail_time_us, + check_posvel_validity(lpos.xy_valid, gpos.eph, _eph_threshold_adj, gpos.timestamp, &_last_gpos_fail_time_us, &_gpos_probation_time_us, &_status_flags.condition_global_position_valid, &_status_changed); }