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lpe: sensors: mocap: fix global ref init logic

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TSC21 2018-07-13 17:16:26 +01:00 committed by Lorenz Meier
parent f1e0310df2
commit 7629075cae
1 changed files with 1 additions and 1 deletions
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2
src/modules/local_position_estimator/sensors/mocap.cpp
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@ -41,7 +41,7 @@ void BlockLocalPositionEstimator::mocapInit()
_global_ref_timestamp = hrt_absolute_time();
_is_global_cov_init = globallocalconverter_initialized();
if (!_map_ref.init_done && _is_global_cov_init && _visionUpdated) {
if (!_map_ref.init_done && _is_global_cov_init && !_visionUpdated) {
// initialize global origin using the mocap estimator reference (only if the vision estimation is not being fused as well)
mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] global origin init (mocap) : lat %6.2f lon %6.2f alt %5.1f m",
double(_ref_lat), double(_ref_lon), double(_ref_alt));